Planning continuous-curvature paths for car-like robots

This paper presents a Continuous-Curvature Path Planner (CCPP) for a car-like robot. Previous collision-free path planners for car-like robots compute paths made up of straight segments connected with tangential circular arcs. The curvature of this type of path is discontinuous so much so that if a car-like robot were to actually follow such a path, it would have to stop at each curvature discontinuity so as to reorient its front wheels. CCPP is one of the rst planner to compute collision-free paths with continuous curvature prooles. These paths are made up of clotho d arcs, i.e. curves whose curvature is a linear function of their arc length. CCPP uses a general planning technique called the Ariadne's Clew algorithm 17]. It is based upon two complementary functions: Search and Explore. Explore builds an approximation of the region of the connguration space reachable from a start connguration by incrementally placing a set of reachable landmarks in the connguration space. Search checks the existence of a solution path between a landmark newly placed and the goal connguration. Praxit ele programme on urban public transports. Abstract This paper presents a Continuous-Curvature Path Planner (CCPP) for a car-like robot. Previous collision-free path planners for car-like robots compute paths made up of straight segments connected with tangential circular arcs. The curvature of this type of path is discontinuous so much so that if a car-like robot were to actually follow such a path, it would have to stop at each curvature discontinuity so as to reorient its front wheels. CCPP is one of the rst planner to compute collision-free paths with continuous curvature prooles. These paths are made up of clotho d arcs, i.e. curves whose curvature is a linear function of their arc length. CCPP uses a general planning technique called the Ariadne's Clew algorithm 17]. It is based upon two complementary functions: Search and Explore. Explore builds an approximation of the region of the connguration space reachable from a start connguration by incrementally placing a set of reachable landmarks in the connguration space. Search checks the existence of a solution path between a landmark newly placed and the goal conngura-tion.