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The problem of moving rigid bodies efficiently is of particular interest in
robotics because the simplest model of a mobile robot or of a manipulated object
is often a rigid body. Path planning, controller design and robot design may
all benefit from precise knowledge of optimal trajectories for a set of
In this work, we present a general solution to the problem of finding minimum
time trajectories for an arbitrary self-propelled, velocity-bounded rigid body
in the obstacle-free plane. Such minimum-time trajectories depend on the
vehicle's capabilities and on and the start and goal configurations. For
example, the fastest way to move a car sideways might be to execute a
parallel-parking motion. The fastest long-distance trajectories for a
wheelchair-like vehicle might be of a turn-drive-turn variety.
Our analysis reveals a wide variety of types of optimal trajectories. We
determine an exhaustive taxonomy of optimal trajectory types, presented as a
branching tree. For each of the necessary leaf nodes, we develop a specific
algorithm to find the fastest trajec
Ph.D Dissertation. Advisor: Devin Balkcom.
Bibliographic citation for this report: [plain text] [BIB] [BibTeX] [Refer]
Or copy and paste:
Andrei A. Furtuna, "Minimum time kinematic trajectories for self-propelled rigid bodies in the unobstructed plane." Dartmouth Computer Science Technical Report TR2011-694, June 2011.
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