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Optimal path planning for car-like vehicles in the presence of obstacles

Martinez-Marin, T.

Global optimal path planning of car-like vehicles remains today an open problem especially in the presence of obstacles. In this paper, we propose a method to obtain the optimal motion of a vehicle considering kinematic and obstacle constraints. We employ an efficient algorithm (CACM), based on cell mapping techniques, to find the optimal motion laws of a car-like vehicle. Simulation results are reported to show the satisfactory performance of the method.

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Optimal path planning for car-like vehicles in the presence of obstacles

Martinez-Marin, T.

Global optimal path planning of car-like vehicles remains today an open problem especially in the presence of obstacles. In this paper, we propose a method to obtain the optimal motion of a vehicle considering kinematic and obstacle constraints. We employ an efficient algorithm (CACM), based on cell mapping techniques, to find the optimal motion laws of a car-like vehicle. Simulation results are reported to show the satisfactory performance of the method.

Optimal path planning for car-like vehicles in the presence of obstacles

Martinez-Marin, T.

Global optimal path planning of car-like vehicles remains today an open problem especially in the presence of obstacles. In this paper, we propose a method to obtain the optimal motion of a vehicle considering kinematic and obstacle constraints. We employ an efficient algorithm (CACM), based on cell mapping techniques, to find the optimal motion laws of a car-like vehicle. Simulation results are reported to show the satisfactory performance of the method.

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Titel:

Optimal path planning for car-like vehicles in the presence of obstacles

Beteiligte:

Martinez-Marin, T. (Autor:in)

Erschienen in:

Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems ; 2 ; 1161-1164 vol.2

Erscheinungsdatum:

01.01.2003

Format / Umfang:

309460 byte

ISBN:

DOI:

https://doi.org/10.1109/ITSC.2003.1252667

Medientyp:

Aufsatz (Konferenz)

Format:

Elektronische Ressource

Sprache:

Englisch

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