@inproceedings{266c2f41cd9e46f6a5f369a1c55af308,
title = "Minimum-time smooth path planning for a mobile robot with kinematic constraints",
abstract = "Presented is a novel minimum-time motion strategy for a mobile robot with kinematic constraints. The method works with the original obstacles, without needing to generate the configuration space for the robot. Further it obtains a minimum time smooth path, as opposed to a minimum distance path which is commonly given by various present solution techniques. The problem is solved in three stages: (i) A reduced visibility graph for a point object is obtained. (ii) The reduced visibility graph is converted into a feasible reduced visibility graph using various rules and heuristics to account for the size and kinematic constraints of the robot. (iii) The A∗ algorithm is used to search the feasible reduced visibility graph with the cost function being the time of travel, to obtain a safe, minimum-time, smooth path. The algorithm runs in polynomial time. The method has been tested in computer simulations and an example is given.",
author = "K. Jiang and Seneviratne, {L. D.} and Earles, {S. W.E.} and Ko, {W. S.}",
note = "Publisher Copyright: {\textcopyright} 1992 IEEE.; 1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992 ; Conference date: 11-08-1992 Through 14-08-1992",
year = "1992",
doi = "10.1109/ETFA.1992.683310",
language = "British English",
series = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "531--536",
editor = "R. Zurawski and T.S. Dillon",
booktitle = "IEEE International Workshop on Emerging Technologies and Factory Automation",
address = "United States",
}