Abstract
This paper proposes a proper combination of on the one hand a local time-optimal path planner fulfilling the basic kinematic and dynamic constraints of wheeled vehicles, and on the other hand, a continuous and bounded curvature derivative Bézier closed-form metrics. As a result of this, a nearly time-optimal path with continuous and bounded curvature profile will be generated, if possible, to connect two configurations while avoiding obstacles. © 2013 Springer-Verlag Berlin Heidelberg.
Cite
CITATION STYLE
Villagrá, J., Godoy, J., González, C., & De Pedro, T. (2013). Nearly-time optimal smooth path planning using continuous curvature derivative primitives. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8112 LNCS, pp. 1–8). Springer Verlag. https://doi.org/10.1007/978-3-642-53862-9_1
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