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Smooth motion planning for car-like vehicles

Florent Lamiraux 1 Jean-Paul Laumond 1 
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : |This paper presents a steering method for a car-like vehicle providing smooth paths subjected to curvature constraints. We show how to integrate this steering method in a global motion planning scheme taking obstacles into account. The main idea of the paper is to consider the car as a 4-dimensional system from a kinematic point of view and as a 3-dimensional system from a geometric point of view of collision checking. The resulting planned motions are guaranteed to be collision-free and C 2 between two cusp points.
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Florent Lamiraux, Jean-Paul Laumond. Smooth motion planning for car-like vehicles. IEEE Transactions on Robotics and Automation, 2001, 17 (4), pp.498-502. ⟨10.1109/70.954762⟩. ⟨hal-02962892⟩



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