We address the problem of following an unknown curve with a car-like vehicle which, being subject to both nonholonomic and steering constraints, can only follow paths of bounded curvature. We discuss the problem of driving the car in a lane of unknown shape minimizing the number of velocity reversals based on the current information provided by sensors. We assume causality of the control law which means that at time t decisions on maneuvering are based only on measurements up to time t.
Paths of bounded curvature with minimal number of maneuvers
2000-01-01
459255 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Paths of Bounded Curvature with Minimal Number of Maneuvers
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