Title :
A practical path-planning algorithm for a simple car: a Hamilton-Jacobi approach
Author :
Takei, R. ; Tsai, R. ; Haochong Shen ; Landa, Y.
Author_Institution :
Dept. of Math., Univ. of California Los Angeles, Los Angeles, CA, USA
fDate :
June 30 2010-July 2 2010
Abstract :
We consider the problem of optimal path planning of a forward moving simple car with a minimum turning radius (a Dubins´ car), in a known environment possibly containing inpenetrable obstacles. We model this problem in the Hamilton-Jacobi partial differential equation framework, and provide a finite difference numerical method to solve it. Furthermore, we introduce and demonstrate a scheme based on this framework to steer a bidirectional micro-car on a testbed.
Keywords :
collision avoidance; finite difference methods; microrobots; mobile robots; optimal control; partial differential equations; Hamilton-Jacobi partial differential equation framework; bidirectional micro-car; finite difference numerical method; forward moving simple car; optimal path planning algorithm; Axles; Finite difference methods; Jacobian matrices; Mathematics; Optimal control; Partial differential equations; Path planning; Turning; Vehicles; Wheels;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5531607
