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Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and computationally low cost method which keeps the robot away from the obstacles in environment. However, this approach suffers from trapping in local minima of potential...
Dubins' result on paths of minimum length and bounded curvature led to a popular method of path planning for constant-speed vehicles moving in the horizontal plane. Constructing a Dubins path involves stitching segments that correspond to maximum rate turns and straight-line motions. However, a path that requires a maximum rate turn cannot be tracked, in general, because feedback corrections that...
We consider a variation of the classical Markov-Dubins problem dealing with curvature-constrained, shortest paths in the plane with prescribed initial and terminal positions and tangents, when the lower and upper bounds of the curvature are not necessarily equal. The motivation for this problem stems from vehicle navigation applications when the vehicle may be biased in taking turns at a particular...
A new, simple, and fast method to compute the sharpness and curvature of a clothoid segment of a continuous curvature path is presented. When generating continuous curvature paths, clothoid segments are needed to connect straight segments to perfect arc segments. This algorithm is part of a new trajectory generator and motion planner that generates smooth, natural, drivable paths, using a minimal...
The optimal motion of a rigid segment in the plane is determined for starting from some giving position and orientation and terminating at a prespecified position and orientation. Optimality is with respect to the sum of the distances traveled by the endpoints. As such, the solution is relevant for applications in optimal path planning for certain robotic vehicles. A new proof and geometric characterization...
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