A steering method for the kinematic car using C*CS paths

Author

Kiss, Domokos ; Tevesz, Gabor

Author_Institution

Dept. of Autom. & Appl. Inf., Budapest Univ. of Technol. & Econ., Budapest, Hungary

fYear

2014

fDate

28-30 May 2014

Firstpage

227

Lastpage

232

Abstract

A steering method for local path generation of car-like robots is presented in this paper. It is shown that in the absence of obstacles there are infinitely many solutions between two arbitrary configurations in the form of C*CS paths. This property facilitates the application of this class of paths in global planning algorithms where collisions with obstacles have to be avoided. In addition, we show that the steering method based on C*CS paths satisfies the topological property, hence a complete path planning algorithm can be constructed based on it.

Keywords

automobiles; collision avoidance; mobile robots; navigation; path planning; robot kinematics; steering systems; C*CS paths; car-like robots; collision avoidance; global planning algorithms; kinematic car; local path generation; path planning algorithm; steering method; Approximation methods; Kinematics; Measurement; Motion segmentation; Planning; Wheels; Mobile robot; car-like vehicle; kinematic constraints; path planning; topological property;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ICCC), 2014 15th International Carpathian

Conference_Location

Velke Karlovice

Print_ISBN

978-1-4799-3527-7

Type

conf

DOI

10.1109/CarpathianCC.2014.6843602

Filename

6843602