Continuous-curvature path planning for car-like vehicles
- 8 September 1997
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 997-1003
- https://doi.org/10.1109/iros.1997.655130
Abstract
In this paper, we consider path planning for a car-like vehicle. Previous solutionsto this problem computed paths made up of circular arcs connected bytangential line segments. Such paths have a non continuous curvature profile.Accordingly a vehicle following such a path has to stop at each curvature discontinuityin order to reorient its front wheels. To remove this limitation, weadd a continuous-curvature constraint to the problem at hand. In addition, weintroduce a constraint on the...Keywords
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