Smooth motion planning for car-like vehicles
作者： F. Lamiraux , J.-P. Lammond
DOI: 10.1109/70.954762
关键词:
摘要: Presents a steering method for car-like vehicle providing smooth paths subjected to curvature constraints. We show how integrate this in global motion planning scheme taking obstacles into account. The main idea of the paper is consider car as 4-D system from kinematic point view and 3-D geometric collision checking. resulting planned motions are guaranteed be collision-free C/sup 2/ between two cusp points.
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