Optimal Path Planning for Car-like Off-road Vehicles

被引：0

作者：

Linker, Raphael ^{[1
]}

Blass, Tamir ^{[1
]}

机构：

[1] Technion Israel Inst Technol, Fac Civil & Environm Engn, IL-32000 Haifa, Israel

来源：

2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2 | 2008年

关键词：

configuration space; A* algorithm; outdoor environment;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A simple algorithm for planning the optimal path for a car-like vehicle operating in outdoor environments is presented. The algorithm is based on the well-known A* approach, which is applied in the vehicle's "configuration space" and is adapted to take into account constraints that are specific to the type of vehicle and environment considered: limited steering angle, limited range of pitch and roll angles permissible, forward motion preferable, frequent turning not desirable. The performance of the algorithm is illustrated on several examples based on randomly generated maps as well as on more realistic orchard maps.

引用

页码：207 / 211

页数：5

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