By Topic

Finding the optimal driving path of a car using the modified constrained distance transformation

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

2 Author(s)
Pei, Soo-Chang ; Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan ; Ji-Hwei Horng

We propose an algorithm to solve the path planning problem in an automated vehicle guidance system. Many methods have been proposed to solve such a problem, but, none of them takes as many practical factors into consideration. Although the literature dealt with one or more of the above factors separately, none had included them in a single research. We have included the following factors into our model: size and orientation, intended directions, driving costs, and obstacles. A powerful but simple algorithm based on the constrained distance transformation is shown to: (1) determine the feasibility given the start and finish positions; (2) find the optimal collision-free driving path which minimizes the total driving cost subject to the constraints; (3) provide a smooth path

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:14 ,  Issue: 5 )