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.


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    Title :

    Paths of bounded curvature with minimal number of maneuvers


    Contributors:
    Panizza, L. (author) / Frezza, R. (author)


    Publication date :

    2000-01-01


    Size :

    459255 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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