The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Dubins inspired 2D smooth paths with bounded curvature and curvature derivative

Gianfranco Parlangeli
University of Salento
Italy

Giovanni Indiveri
University of Salento
Italy

Abstract:
This paper addresses the issue of smooth (C^infinity) 2D path with bounded curvature and curvature derivative connecting two assigned poses (positions and orientations). Moreover the path needs to cross an assigned via-point without a pre-assigned orientation. The problem is a natural extension to Dubins classical one. The effectiveness of the proposed planning method is validated by simulations.

 

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