Time-Optimal Curvature Continuous Path to a Line for Robot Steering.
Songyi ZhangZhiqiang JianWei ZhanNanning ZhengMasayoshi TomizukaPublished in: ITSC (2023)
Keyphrases
- mobile robot
- collision free
- optimal path
- path planning
- path planning algorithm
- goal state
- motion planning
- minimum cost
- optimal solution
- obstacle avoidance
- human robot interaction
- dynamic programming
- multiscale
- piecewise linear
- line segments
- configuration space
- worst case
- optimal control
- robotic systems
- robot navigation
- shortest path
- scale space
- circular arcs
- experimental platform