Collision-free path planning for nonholonomic mobile robots using a new obstacle representation in the velocity space.

Gabriel Ramírez Saïd Zeghloul Collision-free path planning for nonholonomic mobile robots using a new obstacle representation in the velocity space. 543-555 2001 19 Robotica 5 http://dx.doi.org/10.1017/S0263574701003484 db/journals/robotica/robotica19.html#RamirezZ01