Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape
Paolo Robuffo Giordano, Marilena Vendittelli, Jean‐Paul Laumond, Philippe Souères · IEEE Transactions on Robotics · 2006
This paper shows how to compute the nonholonomic distance between a polygonal car-like robot and polygonal obstacles. The solution extends previous work of Reeds and Shepp by finding the shortest path to a manifold (rather than to a point) in configuration space. Based on optimal control theory, the proposed approach yields an analytic solution to the problem