A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2012; you can also visit the original URL.
The file type is
We present a new sampling-based method for planning optimal, collision-free, curvature-constrained paths for nonholonomic robots to visit multiple goals in any order. Rather than sampling configurations as in standard samplingbased planners, we construct a roadmap by sampling circles of constant curvature and then generating feasible transitions between the sampled circles. We provide a closed-form formula for connecting the sampled circles in 2D and generalize the approach to 3D workspaces. Wedoi:10.1109/icra.2011.5980446 pmid:22294101 pmcid:PMC3268135 dblp:conf/icra/LobatonZPA11 fatcat:y6wkm4vo2bguxk6q25a5izsuri