Title :
Motion planning for an autonomous vehicle
Author :
Wilfong, Cordon T.
Author_Institution :
AT&T Bell Lab., Murray Hill, NJ, USA
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;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12106
