Continuous-curvature_path_planning_for_car-like_vehicles.pdf

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1、Proc.oftheInco-CopernicusERB-IC15-CT96-0702project``Multi-agentrobotsystemsforindustrialapplicationsinthetransportdomain''Continuous-CurvaturePathPlanningforCar-LikeVehiclesA.ScheuerandTh.FraichardabInriaRh^one-Alpes&GravirZirst.655av.del'Europe,38330MontbonnotSaintMartin,France[Ale

2、xis.Scheuer,Thierry.Fraichard]@inria.frMay25,1998Abstract

3、Inthispaper,weconsiderpathplanningforacar-likevehicle.Wedeneanewproblemaddingtotheclassicaloneacontinuous-curvatureconstraintandaboundonthecurvaturederivative,soastore ectthefactthatacar-likevehiclecanonlyreorientitsfrontwhe

4、elswithanitevelocity.Asoptimalsolutionscancontainaninnityofpieces,weproposeasolutiontocomputeSub-optimalContinuousCurvaturepaths,calledSCC-paths.Thesepathscontainatmosteightpieces,eachpiecebeingeitheralinesegment,acirculararcofmaximumcurvature,oraclothoidarc.Keywords

5、mobile-robot,

6、path-planning,non-holonomic-system.cAcknowledgements

7、thisworkwaspartiallysupportedbytheInria-InretsPraxiteleprogrammeonindividualurbanpublictransports[1993-1997],andtheInco-CopernicusERB-IC15-CT96-0702projectMulti-agentrobotsystemsforindustrialapplicationsinthetransportdomain"[199

8、7-1999].aInstitutNationaldeRechercheenInformatiqueetenAutomatique.bLab.d'InformatiqueGRAphique,VIsionetRobotique.cInstitutNationaldeREcherchesurlesTransportsetleurSecurite.CONTINUOUS-CURVATUREPATHPLANNINGFORCAR-LIKEVEHICLESA.ScheuerandTh.FraichardyInriaRh^one-Alpes&GravirInria.Zi

9、rst.655av.del'Europe.38330MontbonnotSaintMartin,FranceAbstract:Inthispaper,weconsiderpathplanningforacar-likevehicle.Wedeneanewproblemaddingtotheclassicaloneacontinuous-curvatureconstraintandaboundonthecurvaturederivative,soastore ectthefactthatacar-likevehiclecanonlyreorientitsfro

10、ntwheelswithanitevelocity.Asoptimalsolutionscancontainaninnityofpieces,weproposeasolutiontocom-puteSub-optimalContinuousCurvaturepaths,calledSCC-paths.Thesepathscontainatmosteightpieces,eachpiecebeingeitheralinesegment,acirculararcofmaximumcurvature,oraclothoidarc.Keywords:mobile-

11、robot,non-holonomic