Title :
Optimal path planning for car-like vehicles in the presence of obstacles
Author :
Martínez-Marín, Tomás
Author_Institution :
Dept. de Fisica, Alicante Univ., Spain
Abstract :
Global optimal path planning of car-like vehicles remains today an open problem especially in the presence of obstacles. In this paper, we propose a method to obtain the optimal motion of a vehicle considering kinematic and obstacle constraints. We employ an efficient algorithm (CACM), based on cell mapping techniques, to find the optimal motion laws of a car-like vehicle. Simulation results are reported to show the satisfactory performance of the method.
Keywords :
automobiles; nonlinear dynamical systems; path planning; vehicle dynamics; car-like vehicles; cell mapping techniques; nonlinear dynamic system; obstacle constraints; path planning; Cost function; Kinematics; Motion control; Motion planning; Nonlinear systems; Optimal control; Path planning; Power system planning; Remotely operated vehicles; Vehicle dynamics;
Conference_Titel :
Intelligent Transportation Systems, 2003. Proceedings. 2003 IEEE
Print_ISBN :
0-7803-8125-4
DOI :
10.1109/ITSC.2003.1252667
