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
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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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Proceedings ArticleDOI
Planning constrained motion
Steven Fortune,Gordon Wilfong +1 more
TL;DR: The decidability of the reachability question: “Given a source placement and a target placement, is there a curvature-constrained path from source to target avoiding obstacles?” is shown.
Proceedings Article
The complexity of the two dimensional curvature-constrained shortest-path problem
John H. Reif,Hongyan Wang +1 more
TL;DR: This paper shows that the 2D curvature constrained shortest-path problem in two dimensions is NP-hard, when the obstacles are polygons with a total of N vertices and the vertex positions are given withinO(N) bits of precision.
Journal ArticleDOI
Approximation Algorithms for Curvature-Constrained Shortest Paths
Pankaj K. Agarwal,Hongyan Wang +1 more
TL;DR: In this article, the authors presented an O(n^2/ \eps^4) \log n) time algorithm for computing a collision-free, curvature-constrained path between two given positions, whose length is at most $(1+\varepsilon) times the length of an optimal path, provided it is robust.
Proceedings ArticleDOI
A hierarchical on-line path planning scheme using wavelets
TL;DR: An algorithm for solving the shortest (collision-free) path planning problem for an agent operating in a partially known environment with detailed knowledge of the environment and the obstacles only in the vicinity of its current position is presented.
Proceedings ArticleDOI
Curvature-bounded traversals of narrow corridors
TL;DR: This work considers the existence and efficient construction of bounded curvature paths traversing constant-width regions of the plane, called corridors, and makes explicit a width threshold τ with the property that all corridors of width at least τ admit a unit-curvature traversal.