Real-time dynamic path planning for dubins' nonholonomic robot

被引：12

作者：

Yong, Chao ^{[1
]}

Barth, Eric J. ^{[1
]}

机构：

[1] Vanderbilt Univ, Dept Mech Engn, Nashville, TN 37235 USA

来源：

PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2006年

关键词：

motion planning; shortest path; curvature constraints;

D O I：

10.1109/CDC.2006.377829

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 car-like nonholomonic robot moves in a plane and is subject to an upper bound of curvature for its turning. In this paper, we discuss a novel dynamic path planning algorithm by which the car-like robot could reach any oriented point from another oriented point via the shortest path. The approach features the construction of a pair of accommodation circles describing the left and right turn minimum radius paths of the vehicle. Utilizing this construction, a weak control Lyapunov function is constructed and used to generate a control law. This motion planner provides a real-time state dependent solution with a convergence guarantee.

引用

页码：2418 / 2423

页数：6

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