Smooth motion planning for car-like vehicles
- 1 August 2001
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 17 (4), 498-501
- https://doi.org/10.1109/70.954762
Abstract
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/sup 2/ between two cusp points.Keywords
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