By Topic

A practical path-planning algorithm for a simple car: a Hamilton-Jacobi approach

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Takei, R. ; Dept. of Math., Univ. of California Los Angeles, Los Angeles, CA, USA ; Tsai, R. ; Haochong Shen ; Landa, Y.

We consider the problem of optimal path planning of a forward moving simple car with a minimum turning radius (a Dubins' car), in a known environment possibly containing inpenetrable obstacles. We model this problem in the Hamilton-Jacobi partial differential equation framework, and provide a finite difference numerical method to solve it. Furthermore, we introduce and demonstrate a scheme based on this framework to steer a bidirectional micro-car on a testbed.

Published in:

American Control Conference (ACC), 2010

Date of Conference:

June 30 2010-July 2 2010