Title :
Paths of bounded curvature with minimal number of maneuvers
Author :
Panizza, L. ; Frezza, R.
Author_Institution :
Dipartimento di Elettronica e Inf., Padova Univ., Italy
Abstract :
We address the problem of following an unknown curve with a car-like vehicle which, being subject to both nonholonomic and steering constraints, can only follow paths of bounded curvature. We discuss the problem of driving the car in a lane of unknown shape minimizing the number of velocity reversals based on the current information provided by sensors. We assume causality of the control law which means that at time t decisions on maneuvering are based only on measurements up to time t
Keywords :
controllability; motion control; optimisation; path planning; road vehicles; bounded curvature; car-like vehicle; controllability; motion control; optimisation; path following; path planning; steering; Dynamic programming; Frequency; Intelligent vehicles; Motion control; Optimal control; Path planning; Shape; Time measurement; Trajectory; USA Councils;
Conference_Titel :
Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-6363-9
DOI :
10.1109/IVS.2000.898342
