Path planning may be performed using a configuration space parameterized, at least in part, by one or more variables corresponding to curvature for an object and/or velocity of the objects. The configuration space may be discretized using for maneuver types and/or maneuvers using 4D or 5D volumes or arrays of 3D volumes. A maneuver type and/or maneuver may correspond to a constant rate of change of curvature for the object. Corresponding maneuver types may then form respective clothoid maneuvers to model smooth or gradual changes to steering and curvature. The maneuvers and/or maneuver types that have varying curvature may span across an array of fixed curvature volumes (e.g., 3D volumes) as opposed to being confined to a single volume. A transition volume(s) may be used to represent the object being stopped while changing gear.
NON-HOLONOMIC MOTION PLANNING WITH SMOOTH CURVATURE AND VELOCITY FOR AUTONOMOUS SYSTEMS AND APPLICATIONS
2024-11-28
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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