Global optimal path planning of car-like vehicles remains today an open problem especially in the presence of obstacles. In this paper, we propose a method to obtain the optimal motion of a vehicle considering kinematic and obstacle constraints. We employ an efficient algorithm (CACM), based on cell mapping techniques, to find the optimal motion laws of a car-like vehicle. Simulation results are reported to show the satisfactory performance of the method.


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    Titel :

    Optimal path planning for car-like vehicles in the presence of obstacles


    Beteiligte:


    Erscheinungsdatum :

    2003-01-01


    Format / Umfang :

    309460 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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