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A motion planning algorithm for smooth paths of bounded curvature and curvature derivative

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4 Author(s)
Parlangeli, G. ; Dipt. di Ing. dell''Innovazione, Univ. del Salento, Lecce, Italy ; Ostuni, L. ; Mancarella, L. ; Indiveri, G.

This paper proposes an algorithm for planning Cinfin paths with bound curvature and curvature derivative linking two fixed (initial and final) configurations and passing through a given number of intermediate via-points. The proposed solution is derived solving an optimization problem such that a smooth curve of bounded curvature and curvature derivative approximates Dubin's shortest paths. The effectiveness of such strategy is verified by simulations. Preliminary experimental results are also briefly described.

Published in:

Control and Automation, 2009. MED '09. 17th Mediterranean Conference on

Date of Conference:

24-26 June 2009

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