DocumentCode :
2468244
Title :
On the generation of nearly optimal, planar paths of bounded curvature and bounded curvature gradient
Author :
Bakolas, Efstathios ; Tsiotras, Panagiotis
Author_Institution :
Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fYear :
2009
fDate :
10-12 June 2009
Firstpage :
385
Lastpage :
390
Abstract :
We present a numerically efficient scheme to generate a family of path primitives that can be used to construct paths that take into consideration point-wise constraints on both the curvature and its derivative. The statement of the problem is a generalization of the Dubins problem to account for more realistic vehicle dynamics. The problem is solved by appropriate concatenations of line segments, circular arcs and pieces of clothoids, which are the path primitives in our scheme. Our analysis reveals that the use of clothoid segments, in addition to line segments and circular arcs, for path generation introduces significant changes on issues such as path admissibility and length minimality, when compared with the standard Dubins problem.
Keywords :
gradient methods; graph theory; minimisation; mobile robots; path planning; robot dynamics; Dubins problem; bounded curvature gradient path generation; circular arc; clothoid segment; length minimality; line segment; mobile robot; objective function minimization; optimal path-planning scheme; path admissibility; planar shortest-path problem; realistic vehicle dynamics; Aerospace engineering; Computational geometry; Delay; Integral equations; Land vehicles; Nonlinear equations; Optimal control; Path planning; Shortest path problem; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
ISSN :
0743-1619
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2009.5160269
Filename :
5160269
Link To Document :
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