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

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1 Author(s)
Martinez-Marin, T. ; Dept. de Fisica, Alicante Univ., Spain

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.

Published in:

Intelligent Transportation Systems, 2003. Proceedings. 2003 IEEE  (Volume:2 )

Date of Conference:

12-15 Oct. 2003