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Smooth motion planning for car-like vehicles

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2 Author(s)
F. Lamiraux ; Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France ; J. -P. Lammond

Presents a steering method for a car-like vehicle providing smooth paths subjected to curvature constraints. We show how to integrate this steering method in a global motion planning scheme taking obstacles into account. The main idea of the paper is to consider the car as a 4-D system from a kinematic point of view and as a 3-D system from a geometric point of view of collision checking. The resulting planned motions are guaranteed to be collision-free and C2 between two cusp points

Published in:

IEEE Transactions on Robotics and Automation  (Volume:17 ,  Issue: 4 )