• DocumentCode
    1628800
  • Title

    Motion planning for an autonomous vehicle

  • Author

    Wilfong, Cordon T.

  • Author_Institution
    AT&T Bell Lab., Murray Hill, NJ, USA
  • fYear
    1988
  • Firstpage
    529
  • Abstract
    An algorithm for computing a collision-free motion for a vehicle with limited steering range is presented and its running time is analyzed. When given m `lanes´ on which the vehicle is allowed to move in a polygonal environment of complexity n, the algorithm produces a motion with the minimum number of turns between two query placements of the vehicle in time O(m2)after O(m2(n2+log m)) preprocessing. A restricted version of the algorithm has been implemented
  • Keywords
    position control; robots; autonomous vehicle; collision-free motion; motion planning; position control; robots; Algorithm design and analysis; Axles; Computational geometry; Mobile robots; Motion analysis; Production facilities; Remotely operated vehicles; Vehicle driving; Wheels; Workstations;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
  • Conference_Location
    Philadelphia, PA
  • Print_ISBN
    0-8186-0852-8
  • Type

    conf

  • DOI
    10.1109/ROBOT.1988.12106
  • Filename
    12106
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1628800