Proceedings ArticleDOI
On the existence and synthesis of curvature-bounded paths inside nonuniform rectangular channels
Raghvendra V. Cowlagi,Panagiotis Tsiotras +1 more
- pp 5382-5387
TLDR
In this article, the authors present a numerical algorithm for determining the existence of a curvature-bounded path contained within a rectangular channel, where the rectangular cells comprising the channel are assumed to be of arbitrary, non-uniform dimensions and the bounds on curvature are allowed to be different for different cells.Abstract:
Motion planners for autonomous mobile vehicles that are based on rectangular cell decompositions are often required to construct kinematically feasible path - typically curvature-bounded paths - traversing rectangular channels. In this paper, we present a numerical algorithm for determining the existence of a curvature-bounded path contained within a rectangular channel. The rectangular cells comprising the channel are assumed to be of arbitrary, non-uniform dimensions and the bounds on curvature are allowed to be different for different cells. The proposed algorithm is based on the explicit construction of the cone of feasible directions for a bounded-curvature path at the cell exit edge, given the entry point for each cell in the channel. Based on this analysis, we devise a path construction scheme that retains the convenience of cell-by-cell path synthesis but eliminates the guesswork involved in choosing terminal conditions within each cell.read more
Citations
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Journal ArticleDOI
Hierarchical Motion Planning With Dynamical Feasibility Guarantees for Mobile Robotic Vehicles
TL;DR: The proposed iterative algorithm is suitable for real-time implementations, where hard bounds on the available computation time are imposed, and where the original H-cost optimization algorithm may not have sufficient time to converge to a solution at all.
Journal ArticleDOI
Optimal Trajectories of Curvature Constrained Motion in the Hamilton---Jacobi Formulation
Ryo Takei,Richard Tsai +1 more
TL;DR: A class of Hamilton–Jacobi equations is derived which models such motions of a vehicle which travels under certain curvature constraints; it unifies two well-known vehicular models, the Dubins’ and Reeds–Shepp’s cars, and gives further generalizations.
Proceedings ArticleDOI
Incremental path repair in hierarchical motion-planning with dynamical feasibility guarantees for mobile robotic vehicles
TL;DR: A graph-search algorithm that operates on sequences of vertices and a lower level planner that ensures consistency between the two levels of hierarchy by providing meaningful costs for the edge transitions of a higher level planner using dynamically feasible, collision-free trajectories are proposed.
Journal ArticleDOI
Curvature-Bounded Traversability Analysis in Motion Planning for Mobile Robots
TL;DR: A fast numerical algorithm is presented to determine whether a narrow planar passage can be traversed by a curve that satisfies prespecified upper bounds on its curvature, and it is demonstrated that the proposed algorithm can affirm traversability in cases where the most recent result in the literature fails.
References
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On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents
BookDOI
Robot Motion Planning and Control
TL;DR: Guidelines in nonholonomic motion planning for mobile robots and collision detection algorithms for motion planning are presented.
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Nonholonomic Motion Planning
Zexiang Li,John Canny +1 more
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Proceedings ArticleDOI
Shortest path synthesis for Dubins non-holonomic robot
TL;DR: This work calculates the partition of the configuration space R/sup 2//spl times/S/sup 1/ of a car-like robot, only moving forwards, with respect to the type of the length optimal paths, and gives new optimality conditions on these paths.
Book ChapterDOI
Shortest paths of bounded curvature in the plane
TL;DR: Given two oriented points in the plane, the authors determine and compute the shortest paths of bounded curvature joining them and propose a solution based on the minimum principle of Pontryagin.