Motion planning for an autonomous vehicle

An algorithm for computing a collision-free motion for a vehicle with limited steering range is presented and its running time is analyzed. When given m 'lanes' on which the vehicle is allowed to move in a polygonal environment of complexity n, the algorithm produces a motion with the minimum number of turns between two query placements of the vehicle in time O(m/sup 2/)after O(m/sup 2/(n/sup 2/+log m)) preprocessing. A restricted version of the algorithm has been implemented.<
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