Optimal path planning for car-like vehicles in the presence of obstacles

被引：0
|
作者：
Martínez-Marín, T [1 ]
机构：
[1] Univ Alicante, Dpto Fis Ingn Sistemas & Teoria Senal, E-03080 Alicante, Spain
来源：
2003 IEEE INTELLIGENT TRANSPORTATION SYSTEMS PROCEEDINGS, VOLS. 1 & 2 | 2003年
关键词：
nonholonomic car-like robot; optimal motion planning; cell-to-cell mapping;
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：
Global optimal path planning of car-like vehicles remains today an open problem especially in the presence of obstacles. In this paper, we propose a method to obtain the optimal motion of a vehicle considering kinematic and obstacle constraints. We employ an efficient algorithm (CACM), based on Cell Mapping techniques, to find the optimal motion laws of a car-like vehicle. Simulation results are reported to show the satisfactory performance of the method.
引用
收藏
页码：1161 / 1164
页数：4
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