DocumentCode
2112003
Title
Global path planning for omnidirectional vehicles based on Bezier curve and dynamic constraints
Author
Han Xiong ; Huasong Min
Author_Institution
Coll. of Comput. Sci. & Technol., Wuhan Univ. of Sci. & Technol., Wuhan, China
fYear
2013
fDate
23-25 July 2013
Firstpage
605
Lastpage
610
Abstract
This paper presents a global path planning method for omnidirectional vehicles. The method plans a smooth and optimal path in polygonal obstacle environment, determining the velocity and trajectory by dynamic constrains of omnidirectional vehicles. The results of simulation have demonstrated the improvement of trajectory generation in terms of motion time and path length compared to potential field method and A* algorithm.
Keywords
collision avoidance; trajectory control; vehicles; Bezier curve; dynamic constrains; dynamic constraints; global path planning method; omnidirectional vehicles; optimal path; polygonal obstacle environment; potential field method; trajectory generation; velocity; Heuristic algorithms; Robots; Trajectory; Vehicle dynamics; Vehicles; Wheels; A* algorithm; Bezier curve; Dynamic constraints; Global path planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Fuzzy Systems and Knowledge Discovery (FSKD), 2013 10th International Conference on
Conference_Location
Shenyang
Type
conf
DOI
10.1109/FSKD.2013.6816268
Filename
6816268
Link To Document