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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Proceedings ArticleDOI
Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control
TL;DR: A trajectory planner based on model predictive control for complex vehicle dynamical models is discussed, and comparisons of this motion planner with state-of-the-art randomized sampling-based motion planners are offered.
Proceedings ArticleDOI
Multi-resolution H-cost motion planning: A new framework for hierarchical motion planning for autonomous mobile vehicles
TL;DR: The main novelties of the current work include: a provably complete multi-resolution path planning scheme using wavelet-based workspace cell decompositions; a general technique for incorporating vehicle dynamic constraints in the geometric path planner; and a local trajectory generation scheme based on model predictive control.
Proceedings ArticleDOI
Kinematic feasibility guarantees in geometric path planning using history-based transition costs over cell decompositions
TL;DR: A general framework, based on rectangular cell decompositions, is proposed for incorporating information about the kinodynamic behavior of the vehicle in the geometric planning layer itself, to design a geometric path planning scheme which simultaneously finds an obstacle-free channel of cells from the initial point to the goal.
Journal ArticleDOI
A local reactive steering law for 2D collision avoidance with curvature constraints and constant speed
TL;DR: In this article , a real-time method for reactive collision avoidance for systems with bounded curvature in static and dynamic environments is presented, which relies on the implementation of a local steering law that satisfies a predefined bound on path curvature.
Dissertation
A Cell Decomposition Approach to Robotic Trajectory Planning via Disjunctive Programming
TL;DR: A Cell Decomposition approach to Robotic Trajectory Planning via Disjunctive Programming by Ashleigh Swingler and colleagues.
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.
Book ChapterDOI
Nonholonomic Motion Planning
Zexiang Li,John Canny +1 more
TL;DR: In this article, nonholonomic kinematics and the role of elliptic functions in constructive controllability, R.W. Murray and S.J. Sussmann planning smooth paths for mobile robots, P. Jacobs and J.P. Laumond motion planning for non-holonomic dynamic systems, M. Reyhanoglu et al a differential geometric approach to motion planning, G.G. Lafferriere and H.
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.