Smooth motion planning for car-like vehicles
Overview & Synopsis
|This paper presents a steering method for a car-like vehicle providing smooth paths subjected to curvature constraints. We show how to integrate this steering method in a global motion planning scheme taking obstacles into account. The main idea of the paper is to consider the car as a 4-dimensional system from a kinematic point of view and as a 3-dimensional system from a geometric point of view of collision checking. The resulting planned motions are guaranteed to be collision-free and C 2 between two cusp points.
Indexed from repository: HAL Open Science
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hal.science)
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Document Information
| Document Title | Smooth motion planning for car-like vehicles |
|---|---|
| Author / Organization | Florent Lamiraux, Jean-Paul Laumond |
| Subject & Discipline | Multidisciplinary Academic Open Research |
| Categories | Science & Mathematics |
| Publication Year | 2001 |
| License / Rights | Open Access / Creative Commons |
| Resource Verification | Listed PDF (Verification Pending) |
| Original Host Website |
HAL Open Science
(hal.science)
|
| File Format | application/pdf (Portable Document Format) |
| Language | EN |
| Catalog ID | DOC-108768 |
| Original Source Link | Visit Source Page on hal.science » |