Abstract
This paper proposes a proper combination of on the one hand a local time-optimal path planner fulfilling the basic kinematic and dynamic constraints of wheeled vehicles, and on the other hand, a continuous and bounded curvature derivative Bézier closed-form metrics. As a result of this, a nearly time-optimal path with continuous and bounded curvature profile will be generated, if possible, to connect two configurations while avoiding obstacles.
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Villagrá, J., Godoy, J., González, C., de Pedro, T. (2013). Nearly-Time Optimal Smooth Path Planning Using Continuous Curvature Derivative Primitives. In: Moreno-Díaz, R., Pichler, F., Quesada-Arencibia, A. (eds) Computer Aided Systems Theory - EUROCAST 2013. EUROCAST 2013. Lecture Notes in Computer Science, vol 8112. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-53862-9_1
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DOI: https://doi.org/10.1007/978-3-642-53862-9_1
Publisher Name: Springer, Berlin, Heidelberg
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