From Reeds and Shepp's to continuous-curvature paths

This paper presents Continuous Curvature (CC) Steer, a steering method for car-like vehicles, i.e., an algorithm planning paths in the absence of obstacles. CC Steer is the first to compute paths with: 1) continuous curvature; 2) upper-bounded curvature; and 3) upper-bounded curvature derivative. CC...

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Vydané v:	IEEE transactions on robotics Ročník 20; číslo 6; s. 1025 - 1035
Hlavní autori:	Fraichard, T., Scheuer, A.
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	New York, NY IEEE 01.12.2004 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	Algorithms Applied sciences Artificial Intelligence Automata. Logic controller Axles Computational Geometry Computer Science Computer science; control theory; systems Control theory. Systems Curvature Derivatives Dynamical Systems Exact sciences and technology Functional Analysis H infinity control Kinematics Mathematical analysis Mathematics Motion-planning Nonholonomic vehicles Obstacles Operations Research Optimization Optimization and Control Path planning Process control. Computer integrated manufacturing Reeds Robotics Robots smooth path planning Steering Turning Upper bound Vehicles Wheels Vehicle Non holonomic system Controllability Path planning Robotics Nonholonomic vehicles continuous-curvature paths path planning
ISSN:	1552-3098, 1941-0468
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Popis
Shrnutí:	This paper presents Continuous Curvature (CC) Steer, a steering method for car-like vehicles, i.e., an algorithm planning paths in the absence of obstacles. CC Steer is the first to compute paths with: 1) continuous curvature; 2) upper-bounded curvature; and 3) upper-bounded curvature derivative. CC Steer also verifies a topological property that ensures that when it is used within a general motion-planning scheme, it yields a complete collision-free path planner. The coupling of CC Steer with a general planning scheme yields a path planner that computes collision-free paths verifying the properties mentioned above. Accordingly, a car-like vehicle can follow such paths without ever having to stop in order to reorient its front wheels. Besides, such paths can be followed with a nominal speed which is proportional to the curvature derivative limit. The paths computed by CC Steer are made up of line segments, circular arcs, and clothoid arcs. They are not optimal in length. However, it is shown that they converge toward the optimal "Reeds and Shepp" paths when the curvature derivative upper bound tends to infinity. The capabilities of CC Steer to serve as an efficient steering method within two general planning schemes are also demonstrated.
Bibliografia:	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 ObjectType-Article-2 ObjectType-Feature-1 content type line 23
ISSN:	1552-3098 1941-0468
DOI:	10.1109/TRO.2004.833789