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Motion planning for an autonomous vehicle

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1 Author(s)
G. T. Wilfong ; AT&T Bell Lab., Murray Hill, NJ, USA

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(m2)after O(m2(n2+log m)) preprocessing. A restricted version of the algorithm has been implemented

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988