Path Planning for Vehicle with Constraint on Turning Radius among Obstacles


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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.



Edited by:

Daizhong Su, Qingbin Zhang and Shifan Zhu




N. J. Wang et al., "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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