From Reeds and Shepp's to Continuous-Curvature Paths

Fraichard, Thierry; Scheuer, A.

doi:10.1109/tro.2004.833789

Cited by 389 publications

(236 citation statements)

References 34 publications

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“…There is a wide variety of path planners available in literature. The path planner approach presented in [5] has been used in this paper. The idea underlying this path planning approach is to build up a path with continuous curvature, from a combination of straight lines, clothoids and circular arcs, in order to account for the nonholonomic properties of the vehicle.…”

Section: Calculation Of Desired State Trajectoriesmentioning

confidence: 99%

Low speed maneuvering assistance for long vehicle combinations

Hoel

Falcone

2013

2013 IEEE Intelligent Vehicles Symposium (IV)

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Abstract-This paper considers a low speed maneuvering problem for long articulated vehicle combinations. High precision maneuvering is achieved by designing a model-based state feedback optimal control method, commanding the steering of the first unit and a moveable coupling point between the first unit and the trailer. Simulation results are presented for a tight 90 degree turn, involving both forward and backward motions.

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Section: Calculation Of Desired State Trajectoriesmentioning

confidence: 99%

Low speed maneuvering assistance for long vehicle combinations

Hoel

Falcone

2013

2013 IEEE Intelligent Vehicles Symposium (IV)

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“…However, as highlighted by Fraichard and Scheuer [3], the curvature of this type of path is discontinuous. In fact, discontinuities arise at the transitions between segments and arcs, and between arcs with opposite directions of rotation.…”

Section: Introductionmentioning

confidence: 95%

“…and parametric curves whose curvature is a function of their arc length (clothoids, cubic spirals, intrinsic splines, etc.) [3].…”

Section: Introductionmentioning

confidence: 99%

A New Path Generation Algorithm Based on Accurate NURBS Curves

Jalel

Marthon

Hamouda

2016

International Journal of Advanced Robotic Systems

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The process of finding an optimum, smooth and feasible global path for mobile robot navigation usually involves determining the shortest polyline path, which will be subsequently smoothed to satisfy the requirements. Within this context, this paper deals with a novel roadmap algorithm for generating an optimal path in terms of NonUniform Rational B-Splines (NURBS) curves. The generated path is well constrained within the curvature limit by exploiting the influence of the weight parameter of NURBS and/or the control points' locations. The novelty of this paper lies in the fact that NURBS curves are not used only as a means of smoothing, but they are also involved in meeting the system's constraints via a suitable parameterization of the weights and locations of control points. The accurate parameterization of weights allows for a greater benefit to be derived from the influence and geometrical effect of this factor, which has not been well investigated in previous works. The effectiveness of the proposed algorithm is demonstrated through extensive MATLAB computer simulations.

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“…The maximum curvature in the path may exceed the one the vehicle can drive, turning the maneuver unfeasible. This problem was addressed by Fraichard and Scheuer (2004), who also considered the kinematic model of car-like robots. They proposed an improvement for continuous paths consisting of circular arcs and straight lines applied to forward and backward motions (REEDS; SHEPP, 1990 apud FRAICHARD;SCHEUER, 2004).…”

Section: Dynamic Pathsmentioning

confidence: 99%

“…This problem was addressed by Fraichard and Scheuer (2004), who also considered the kinematic model of car-like robots. They proposed an improvement for continuous paths consisting of circular arcs and straight lines applied to forward and backward motions (REEDS; SHEPP, 1990 apud FRAICHARD;SCHEUER, 2004). Their approach uses clothoids with bounded curvature and sharpness to solve the problem of curvature discontinuity, turning the path feasible to be followed by car-like robots.…”

Section: Dynamic Pathsmentioning

confidence: 99%

Piecewise linear continuous-curvature path planning for autonomous vehicles

Silva¹

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2018Trata-se da versão corrigida da dissertação. A versão original se encontra disponível na EESC/USP que aloja o Programa de Pós-Graduação de Engenharia Elétrica. Autonomous vehicles have increasingly become an attractive field due its promising capabilities of improvements regarding safety, comfort, traffic flow etc. A required attribute for those vehicles is the ability of autonomously compute its path towards a destination point. The path must be planned considering the constructive aspects of the vehicle in order to guarantee the maneuver feasibility. This work consists on computing a feasible path for autonomous vehicles with non-holonomic constraints. Piecewise linear continuouscurvature paths constituted of clothoids, circular arcs, and straight lines are used for this purpose, providing passenger's comfort. The road network is modeled from GPS (Global Positioning System) vehicle trajectories by defining lanes, roundabouts and intersections. GPS points are used later to parameterize lanes using clothoids and to extract roundabout centers and radii. This approach provides a sparse road network model since GPS points are replaced by parameterized curves. The information about connections between roads coming from the model is used by a global path planner, which computes a minimal length route from the vehicle current position to the destination point. After that, path planners compute intersection and roundabout paths depending on the nature of connections between roads. Also, lanes changes are performed to obey traffic rules. These three path planners that connects adjacent roads use clothoids, circular arc, and straight lines as interpolating curves whose curvature is constrained to that the vehicle can perform: the intersection path planner uses only a minimal amount of steering to perform the maneuver, increasing the comfort level; the roundabout path planner takes the roundabout center and radius as well as parameters that defines the entrance and exit maneuvers to compute the path; the lane change path planner connects lanes belonging to the same road with a prescribed longitudinal traveled distance depending on whether this maneuver is required. In the end, an global continuous-curvature path is generated. As the result of this work, a real urban scenario is modeled and the proposed approaches are validated. Veículos autônomos têm cada vez mais se tornado um campo atraente de pesquisa devido às suas capacidades promissoras de melhorias em segurança, conforto, fluxo de tráfego, etc. Um atributo necessário para esses veículos é a capacidade de calcular, de forma autônoma, o seu caminho para um ponto de destino. O percurso deve ser planejado considerando os aspectos construtivos do veículo para que a viabilidade das manobras a serem executadas seja garantida. Este trabalho consiste no planejamento de trajetória para veículos autônomos com restrições não-holonômicas. Utilizam-se, para esse efeito, trajetórias cuja curvatura seja contínua e linear por partes, constituídas por clotóides, arcos de circun...

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From Reeds and Shepp's to Continuous-Curvature Paths

Cited by 389 publications

References 34 publications

Low speed maneuvering assistance for long vehicle combinations

Low speed maneuvering assistance for long vehicle combinations

A New Path Generation Algorithm Based on Accurate NURBS Curves

Piecewise linear continuous-curvature path planning for autonomous vehicles

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