Smooth motion planning for car-like vehicles

被引：109
|
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
收藏
页码：498 / 502
页数：5
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