Smooth motion planning for car-like vehicles
نویسندگان
چکیده
منابع مشابه
Smooth motion planning for car-like vehicles
This paper 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 chec...
متن کاملNonholonomic motion planning for car-like robots
We consider the robot motion planning problem in the presence of non-integrable kinematic constraints, known as non-holonomic constraints. Car-like non-holonomic mobile robots are used for solving this problem, and several implemented planners are discussed. We claim that the randomized methods are more capable of efficiently solving many challenging, high-dimensional problems. Results with ran...
متن کاملMotion Planning for Car-like Robots
Motion planning is one of the most challenging tasks in robotics. Dedicated algorithms are used in many different applications starting from CNC machines to human-like robots. An interesting research area within this field is motion planning for car-like robots. In the last few years, car-like robots became increasingly important, because precise positioning systems like GPS or GLONASS and mode...
متن کاملSafe motion planning for car like vehiclesTh
This paper deals with the problem of planning and controlling the motion of non holonomic vehicles in a dynamic world. We present a hierarchical system with two main levels: at the higher level, a motion planner determines a coarse motion plan for each controlled vehicle according to the non collision and time optimality criteria; at the lower level, a motion controller distributed between the ...
متن کاملRandomized motion planning for car-like robots with C-PRM
In this work, we propose a new approach for motion planning for nonholonomic car-like robots which is based on a Customizable PRM (C-PRM). A major advantage of our approach is that it enables the same roadmap to be efficiently utilized for car-like robots with different turning radii, which need not be known before query time. Our C-PRM-based approach first builds a so-called control roadmap wh...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 2001
ISSN: 1042-296X
DOI: 10.1109/70.954762