Obstacle-avoiding Path Planning for High Velocity Wheeled Mobile Robots
نویسندگان
چکیده
This paper presents a new motion planning algorithm for wheeled mobile robots in presence of known static obstacles, especially well-suited for high velocity situations. It takes into account several conditions traditionally attached to smooth path planning, i.e. paths with continuous derivative and upper-bounded curvature. It makes use of a global path planner which exploits polynomial G curves characteristics. Copyright c ©2005 IFAC
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