Paper Title:
Path Planning for Vehicle with Constraint on Turning Radius among Obstacles
  Abstract

A path re-planning method is proposed based on a discretization of the state space, aiming at finding a collision-free path for the vehicle which is capable of forward and backward motion when changes occur in the environment. A Control Set with Turning Radius Constraint (CSTRC) is formulated and the feasibility of paths in CSTRC is also proved out. The A* search is applied to produce a feasible path considering the distance and angle between the vehicle and the target pose. Path re-planning can be carried out efficiently when the environment changes. Simulation results demonstrate that the method realizes path re-planning effectively and the path satisfy the turning radius constraint.

  Info
Periodical
Edited by
Daizhong Su, Qingbin Zhang and Shifan Zhu
Pages
128-132
DOI
10.4028/www.scientific.net/KEM.450.128
Citation
N. J. Wang, D. F. Zhang, L. J. Zhou, "Path Planning for Vehicle with Constraint on Turning Radius among Obstacles", Key Engineering Materials, Vol. 450, pp. 128-132, 2011
Online since
November 2010
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$32.00
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