Structure of minimum-time control law for robotic manipulators with constrained paths," in Proc. IEEE Conf. Robotics and Automation, Scottsdale, AZ, 1989, pp. 971-976. [6] J. M. McCarthy and J. E. Bobrow, "The number of saturated actuators and constraint forces during time-optimal movement of a general robotic system," IEEE Trans. Robot. Automat., vol. 8, pp. 407-409, June 1992. [7] Z. Shiller, "On singular time-optimal control along specified paths," IEEE Trans. Robot. Automat., vol. 10, pp. 561-566, Aug. 1994. [8] P. Fiorini and Z. Shiller, "Time optimal trajectory planning in dynamic environments," in Proc. IEEE Conf. Robotics and Automation, 1996, pp. 1553-1558 M. Galicki, "The structure of time optimal controls for kinematically redundant manipulators with end-effector path constraints," in Proc. IEEE Conf. Robotics and Automation, 1998, pp. 101-106. [10] , "Time-optimal controls of kinematically redundant manipulators with geometric constraints," IEEE Trans. Robot. Automat., vol. 16, pp. 89-93, Feb. 2000. [11] , "The planning of robotic optimal motions in the presence of obstacles," Int. J. Robot. Res., vol. 17, no. 3, pp. 248-259, 1998 , "An algorithm for on-line inverse kinematics with path tracking capability under velocity and acceleration constraints," in Proc. IEEE Conf. Decision and Control, 2000, pp. 5079-5084. [25] , "Real-time end-effector path following for robot manipulators subject to velocity, acceleration, and jerk joint limits," Comput. Syst. Sci., vol. 45, pp. 1-19, 1992. From Reeds and Shepp's to Continuous-Curvature Paths Abstract-This paper presents Continuous Curvature (CC) Steer, a steering method for car-like vehicles, i.e., an algorithm planning paths in the absence of obstacles. CC Steer is the first to compute paths with: 1) continuous curvature; 2) upper-bounded curvature; and 3) upper-bounded curvature derivative. CC Steer also verifies a topological property that ensures that when it is used within a general motion-planning scheme, it yields a complete collision-free path planner. The coupling of CC Steer with a general planning scheme yields a path planner that computes collision-free paths verifying the properties mentioned above. Accordingly, a car-like vehicle can follow such paths without ever having to stop in order to reorient its front wheels. Besides, such paths can be followed with a nominal speed which is proportional to the curvature derivative limit. The paths computed by CC Steer are made up of line segments, circular arcs, and clothoid arcs. They are not optimal in length. However, it is shown that they converge toward the optimal "Reeds and Shepp" paths when the curvature derivative upper bound tends to infinity. The capabilities of CC Steer to serve as an efficient steering method within two general planning schemes are also demonstrated.
In REF , the authors present Continuous-Curvature Paths that extend the Reeds and Shepp line segments and circular arcs with clothoid arcs.
From Reeds and Shepp's to continuous-curvature paths
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Computer Science Mathematics