Sensor-based path planning for nonholonomic mobile robots subject to dynamic constraints
Robotics and Autonomous Systems
Robotics and Autonomous Systems
An Intelligent Car Driver for Safe Navigation with Fuzzy Obstacle Avoidance
WILF '09 Proceedings of the 8th International Workshop on Fuzzy Logic and Applications
Application of multicriteria decision-making techniques to manoeuvre planning in nonholonomic robots
Expert Systems with Applications: An International Journal
ACC'09 Proceedings of the 2009 conference on American Control Conference
Real-time trajectory generation for car-like vehicles navigating dynamic environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A framework for planning comfortable and customizable motion of an assistive mobile robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Spatiotemporal state lattices for fast trajectory planning in dynamic on-road driving scenarios
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Computing clothoid segments for trajectory generation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Curvature continuous path generation for autonomous vehicle using B-spline curves
Computer-Aided Design
An analytical continuous-curvature path-smoothing algorithm
IEEE Transactions on Robotics
Trajectory planning of unicycle mobile robots with a trapezoidal-velocity constraint
IEEE Transactions on Robotics
Smooth path and speed planning for an automated public transport vehicle
Robotics and Autonomous Systems
Spline-Based RRT Path Planner for Non-Holonomic Robots
Journal of Intelligent and Robotic Systems
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This paper presents Continuous Curvature (CC) Steer, a steering method for car-like vehicles, i.e., an algorithm planning paths in the absence of obstacles. CC Steer is the first to compute paths with: 1) continuous curvature; 2) upper-bounded curvature; and 3) upper-bounded curvature derivative. CC Steer also verifies a topological property that ensures that when it is used within a general motion-planning scheme, it yields a complete collision-free path planner. The coupling of CC Steer with a general planning scheme yields a path planner that computes collision-free paths verifying the properties mentioned above. Accordingly, a car-like vehicle can follow such paths without ever having to stop in order to reorient its front wheels. Besides, such paths can be followed with a nominal speed which is proportional to the curvature derivative limit. The paths computed by CC Steer are made up of line segments, circular arcs, and clothoid arcs. They are not optimal in length. However, it is shown that they converge toward the optimal "Reeds and Shepp" paths when the curvature derivative upper bound tends to infinity. The capabilities of CC Steer to serve as an efficient steering method within two general planning schemes are also demonstrated.