TY - GEN
T1 - Local path planning scheme for car-like vehicle's shortest turning motion using geometric analysis
AU - Lee, Seoung Kyou
AU - Lee, Sungon
AU - Nam, Changjoo
AU - Doh, Nakju Lett
PY - 2010
Y1 - 2010
N2 - This paper deals with a path planning problem for turning motion of a car-like vehicle. We propose a turning method which finds a curvature continuous optimal path between two positions for a car-like vehicle. This method suggests two kinds of turning case; 1) Turning path with an arc of minimum turning radius ; 2) Turning path without an arc of minimum turning radius. In each case, we derive an closed form functions, an object function and a set of related constraints. By using those equations, optimal turning path candidates corresponding to each case are made. Furthermore, we find a final distance optimal turning path among above candidates for each case. Our algorithm is novel and more challenging compared to existing path planning algorithms in the sense that it deals more complicated problem, a turning motion. Moreover, we expect that the proposed method is helpful in various ways such as an improvement of existing path planners, like sampling based planners.
AB - This paper deals with a path planning problem for turning motion of a car-like vehicle. We propose a turning method which finds a curvature continuous optimal path between two positions for a car-like vehicle. This method suggests two kinds of turning case; 1) Turning path with an arc of minimum turning radius ; 2) Turning path without an arc of minimum turning radius. In each case, we derive an closed form functions, an object function and a set of related constraints. By using those equations, optimal turning path candidates corresponding to each case are made. Furthermore, we find a final distance optimal turning path among above candidates for each case. Our algorithm is novel and more challenging compared to existing path planning algorithms in the sense that it deals more complicated problem, a turning motion. Moreover, we expect that the proposed method is helpful in various ways such as an improvement of existing path planners, like sampling based planners.
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U2 - 10.1109/IROS.2010.5651852
DO - 10.1109/IROS.2010.5651852
M3 - Conference contribution
AN - SCOPUS:78651480616
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 4761
EP - 4768
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -