Smooth motion planning for car-like vehicles

被引：0
|
作者：
Lamiraux, F [1 ]
Laumond, JP [1 ]
机构：
[1] LAAS, CNRS, Toulouse, France
来源：
INTELLIGENT AUTONOMOUS SYSTEMS 6 | 2000年
关键词：
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：
This paper presents a steering method for a car-like vehicle providing smooth paths submitted to curvature constraints. We show how to integrate this steering method in a global motion planning scheme taking into account obstacles. The main idea of the paper is to consider the car as a 4-dimensional system from the kinematic point of view and as a 3-dimensional system from the geometric point view of collision checking. The resulting planned motions are guaranteed to be collision-free and C-2 between two cusp points.
引用
收藏
页码：1005 / 1012
页数：8
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