Real-time dynamic path planning for dubins' nonholonomic robot

被引：12
|
作者：
Yong, Chao [1 ]
Barth, Eric J. [1 ]
机构：
[1] Vanderbilt Univ, Dept Mech Engn, Nashville, TN 37235 USA
来源：
PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2006年
关键词：
motion planning; shortest path; curvature constraints;
D O I：
10.1109/CDC.2006.377829
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A car-like nonholomonic robot moves in a plane and is subject to an upper bound of curvature for its turning. In this paper, we discuss a novel dynamic path planning algorithm by which the car-like robot could reach any oriented point from another oriented point via the shortest path. The approach features the construction of a pair of accommodation circles describing the left and right turn minimum radius paths of the vehicle. Utilizing this construction, a weak control Lyapunov function is constructed and used to generate a control law. This motion planner provides a real-time state dependent solution with a convergence guarantee.
引用
收藏
页码：2418 / 2423
页数：6
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