A ]bounded-curvature shortest path generation method for car-like mobile robot using cubic spiral

Liang, Tzu-Chen; Liu, Jing‐Sin

doi:10.1109/iros.2004.1389836

Cited by 1 publication

(2 citation statements)

References 16 publications

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“…Delingette [12] developed a method based on the usage of intrinsic splines with polynomial curvature profile which allowed to solve general geometric constraints. Liang and Liu [23] developed the shortest path planning method, which searched for a minimal length path from all the paths generated by a linear programming optimisation. The main advantage of the developed method -it can be applied while considering backward motion capability.…”

Section: Scientific Backgroundmentioning

confidence: 99%

“…The main advantage of the developed method -it can be applied while considering backward motion capability. However, in both works [12,23], the developed algorithms were theoretically based, experimental investigations were not performed. Arokiasami [3] proposed a vector based path generation method, which follows a geometric approach to path-generation and path-tracking and is suitable for aerial and ground autonomous vehicles.…”

Section: Scientific Backgroundmentioning

confidence: 99%

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Modification and reliability estimation of vector based Dubins path approach for autonomous ground vehicles path re-planning

Skačkauskas¹,

Sokolovskij²

2018

Eksploatacja i Niezawodność – Maintenance and Reliability

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Modification and reliability estiMation of vector based dubins path approach for autonoMous ground vehicles path re-planning poprawa i ocena niezawodności opartej na wektorowej Metodzie trajektorii dubinsa dla korekty trajektorii pojazdów autonoMicznych Due to global purposes to ensure growth of a competitive and sustainable transport system, also to solve traffic safety and environmental problems, various engineering solutions are being sought out. It can be assumed that autonomous vehicles are the technology, which will ensure the positive change in the transport system. Even though many studies successfully advanced toward realisation of autonomous vehicles, a significant amount of technical and policy framework problems still has to be solved. This paper addresses the problem of predefined path feasibility and proposes an effective methodology for a path to follow re-planning. The proposed methodology is composed of three parts and is based on the Dubins path approach. In order to modify the vector based Dubins path approach and to ensure the path feasibility, the optimisation problem was solved. A cost function with different inequality constraints was formulated. The performance and reliability of the proposed methodology were analysed and evaluated by carrying out an experimental research while using the autonomous test vehicle.

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Section: Scientific Backgroundmentioning

confidence: 99%