Paths that stay on a given network of line segments except to turn onto one segment from another by following a circular arc are studied. The problem of finding a shortest-length collision-free path of this form for an autonomous vehicle with a bound on its steering angle is considered. A polynomial-time algorithm to modify a given feasible path into a shortest-length path traversing the same sequence of lanes is given. However, if the sequence of lanes to be traversed is not fixed, then the general problem of finding a shortest-length path of the restricted form is shown to be NP-complete.<>


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    Title :

    Shortest paths for autonomous vehicles


    Contributors:
    Wilfong, G. (author)


    Publication date :

    1989-01-01


    Size :

    408828 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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