FORWARD AND BACKWARD CHAIN-CODE REPRESENTATION FOR MOTION PLANNING OF CARS

摘要: The path-planning problem is presented to show a car of any desired shape moving from starting position destination in finite space with arbitrarily shaped obstacles it. In this paper, new chain-code representation developed record the motion path when forward and backward movements are allowed. By placing smooth turning-angle constraint, we can obtain more realistic results actual cars. Meanwhile, by combining rotational mathematical morphology distance transformation, shortest collision-free path. As soon as map codes have been established offline, paths cars location toward be promptly obtained online. Experimental that our algorithm works successfully different conditions. We also extend automated parallel parking three-dimensional planning.