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Foundations of Robotics
Seminar, September 27, 2005
Time
and Place | Seminar Abstract | Speaker
Biography | Presentation Slides | Speaker
Appointments
Nonholonomic
Distance to Polygonal Obstacles for a Car-Like Robot of Polygonal Shape
Marilena Vendittelli
Visiting faculty at the Robotics Institute until Dec 2005.
1507 Newell-Simon Hall
Refreshments 4:15 pm
Talk 4:30 pm
The motion of wheeled mobile robots is
subject to nonholonomic constraints deriving from the wheels' pure rolling
hypothesis. A well known consequence is that any path in the configuration
space is not necessarily feasible for these systems. For this reason the
Euclidean metric is not appropriate for determining the distance to obstacles
in the robot environment. In this talk, we define and show how to compute a
distance between the robot and the obstacles which takes into account the
nonholonomic constraints.
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Speaker Appointments |
For appointments, please contact Marilena
Vendittelli
(venditt@dis.uniroma1.it)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.