Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape.
Paolo Robuffo GiordanoMarilena VendittelliJean-Paul LaumondPhilippe SouèresPublished in: IEEE Trans. Robotics (2006)
Keyphrases
- mobile robot
- arbitrarily shaped
- path planning
- motion planning
- visual navigation
- robot moves
- shape model
- voronoi diagram
- hausdorff distance
- dissimilarity measure
- distance measure
- distance map
- trajectory planning
- collision avoidance
- obstacle avoidance
- shape analysis
- shape features
- autonomous robots
- pose estimation
- sensory information
- shape matching
- arbitrary shape
- humanoid robot
- shape representation
- robot navigation
- robotic systems
- free space
- implicit surfaces
- human robot interaction
- position and orientation
- degrees of freedom
- euclidean distance
- distance function