Nonholonomic path planning for pushing a disk among obstacles
نویسندگان
چکیده
We consider the path-planning problem for a robot pushing an object in an environment containing obstacles. This new variant of the classical robot pathplanning problem has several interesting geometric aspects, which we explore. We focus on the setting where the robot makes a point contact with the object which is assumed to be a unit disk, while the obstacles are assumed to be polygonal.
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تاریخ انتشار 1997