Local path planning scheme for car-like vehicle's shortest turning motion using geometric analysis

Seoung Kyou Lee, Sungon Lee, Changjoo Nam, Nakju Lett Doh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages4761-4768
Number of pages8
DOIs
Publication statusPublished - 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Lee, S. K., Lee, S., Nam, C., & Doh, N. L. (2010). Local path planning scheme for car-like vehicle's shortest turning motion using geometric analysis. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 4761-4768). [5651852] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5651852