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A method of path planning is presented based on a discretization of the state space, aiming at taking into account of heading and curvature constraints for vehicles which are capable of forward and backward motion in this paper. A search space is created with the heading dimension appended to the grid. Motion coding is achieved efficiently through the connections of states using arcs and Bezier curves...
The shortest path based on MAKLINK graph is composed of straight line segments, and there may have not sufficient space for path smoothing when the vehicle is bounded by turning radius. Both the necessary conditions that the vehicle makes a turn safely at the vertex of swell annulus and the space constraint equation of the path nodes are considered. Transition arcs can be employed directly to wipe...
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