Continuous - Curvature Path Planningfor

| In this paper, we consider path planning for a car-like vehicle. We deene a new problem adding to the classical one a continuous-curvature constraint and a bound on the curvature derivative, so as to reeect the fact that a car-like vehicle can only reorient its front wheels with a nite velocity. As optimal solutions can contain an innnity of pieces, we propose a solution to compute Sub-optimal Continuous Curvature paths, called SCC-paths. These paths contain at most eight pieces, each piece being either a line segment, a circular arc of maximum curvature, or a clothoid arc. Praxit ele programme on individual urban public transports 1993-1997], and the Inco-Copernicus ERB-IC15-CT96-0702 project \Multi-agent robot systems for industrial applications in the transport domain" 1997-1999]. Abstract: In this paper, we consider path planning for a car-like vehicle. We deene a new problem adding to the classical one a continuous-curvature constraint and a bound on the curvature derivative, so as to reeect the fact that a car-like vehicle can only reorient its front wheels with a nite velocity. As optimal solutions can contain an innnity of pieces, we propose a solution to compute Sub-optimal Continuous Curvature paths, called SCC-paths. These paths contain at most eight pieces, each piece being either a line segment, a circular arc of maximum curvature, or a clothoid arc.