Title :
Smooth path planning for cars
Author :
Fraichard, Th ; Ahuactzin, J.-M.
Author_Institution :
INRIA Rhone-Alpes, France
Abstract :
Addresses continuous-curvature path planning for cars. It presents an improved version of a previous steering method (i.e. an algorithm computing paths in the absence of obstacles) for cars and the embedding of this steering method in a global path planning scheme.
Keywords :
mobile robots; path planning; robot dynamics; robot kinematics; topology; cars; continuous-curvature path planning; global path planning scheme; smooth path planning; steering method; Algorithm design and analysis; Approximation algorithms; Embedded computing; Kinematics; Mobile robots; Path planning; Remotely operated vehicles; Uncertainty; Vehicle dynamics; Wheels;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933197
