Smooth motion planning for car-like vehicles

被引：108

作者：

Lamiraux, F ^{[1
]}

Laumond, JP ^{[1
]}

机构：

[1] CNRS, LAAS, F-31077 Toulouse, France

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2001年 / 17卷 / 04期

关键词：

nonholonomic car-like robot; smooth motion planning;

D O I：

10.1109/70.954762

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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-D system from a kinematic point of view and as a 3-D 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.

引用

页码：498 / 502

页数：5

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