Complexity and Path Planning for a car-like robot
Cutberto Romero-Meléndez, F. Monroy‐Pérez, B. Vazquez-Gonzalez · 2005
We study the motion planning problem and its metric complexity for a car-like robot that rolls without slipping. By using geometric control techniques we derive a control strategy for approximating a non-admissible trajectory by means of a sequence of admissible trajectories within a defined /spl epsiv/-neighborhood. For a specific model we estimate numerically the metric complexity.