基于C*CS路径的运动小车转向方法

Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI:10.1109/CARPATHIANCC.2014.6843602

D. Kiss, G. Tevesz

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引用次数: 7

摘要

提出了一种用于类车机器人局部路径生成的转向方法。证明了在没有障碍物的情况下，C*CS路径形式的任意两种构型之间存在无穷多个解。这一性质有利于这类路径在全局规划算法中的应用，在全局规划算法中，必须避免与障碍物的碰撞。此外，我们还证明了基于C*CS路径的转向方法满足拓扑性质，因此可以在此基础上构造完整的路径规划算法。

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A steering method for the kinematic car using C*CS paths

A steering method for local path generation of car-like robots is presented in this paper. It is shown that in the absence of obstacles there are infinitely many solutions between two arbitrary configurations in the form of C*CS paths. This property facilitates the application of this class of paths in global planning algorithms where collisions with obstacles have to be avoided. In addition, we show that the steering method based on C*CS paths satisfies the topological property, hence a complete path planning algorithm can be constructed based on it.

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Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)

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