NDLI: On the existence and synthesis of curvature-bounded paths inside nonuniform rectangular channels

Content Provider	IEEE Xplore Digital Library
Author	Cowlagi, R.V. Tsiotras, P.
Copyright Year	2010
Description	Author affiliation: Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA (Cowlagi, R.V.; Tsiotras, P.)
Abstract	Motion planners for autonomous mobile vehicles that are based on rectangular cell decompositions are often required to construct kinematically feasible path - typically curvature-bounded paths - traversing rectangular channels. In this paper, we present a numerical algorithm for determining the existence of a curvature-bounded path contained within a rectangular channel. The rectangular cells comprising the channel are assumed to be of arbitrary, non-uniform dimensions and the bounds on curvature are allowed to be different for different cells. The proposed algorithm is based on the explicit construction of the cone of feasible directions for a bounded-curvature path at the cell exit edge, given the entry point for each cell in the channel. Based on this analysis, we devise a path construction scheme that retains the convenience of cell-by-cell path synthesis but eliminates the guesswork involved in choosing terminal conditions within each cell.
Starting Page	5382
Ending Page	5387
File Size	921201
Page Count	6
File Format	PDF
ISBN	9781424474264
ISSN	07431619
e-ISBN	9781424474271
DOI	10.1109/ACC.2010.5530772
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Path planning Motion control Upper bound Land vehicles Vehicle dynamics Aerodynamics History Trajectory Road vehicles Kinematics
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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