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Smooth Trajectory Planning for a Car-Like Vehicle in a Structured World
BibTeX
@MISC{Fraichard_smoothtrajectory,
author = {Th. Fraichard and C. Laugier and Thierry Fraichard and Christian Laugier},
title = {Smooth Trajectory Planning for a Car-Like Vehicle in a Structured World},
year = {}
}
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Abstract
This report aims at studying the trajectory planning for a car-like vehicle ---i.e. a non-holonomic vehicle whose turning radius is lower bounded---in a static and structured world. As for the structure of the world, we assume the existence of natural lanes within which the vehicle is able to move. The contribution of this report is a smooth trajectory planning algorithm which, when given the polygonal line S representing the spine of the lane that the vehicle has to follow, generates a trajectory C which avoids the obstacles of the world and which is smooth---i.e. without backing up manoeuvres---and executable by the vehicle according to its own kinematic constraints. Besides C is `topologically equivalent' to S ; in other words, C must remain in the lane defined by S. C is made up of straight segments and tangential circular arcs of a given radius r. The basic principle of the algorithm is to search for the centre of each circular arc in a particular domain called `curvature centre...
Keyphrases
structured world car-like vehicle smooth trajectory planning straight segment curvature centre trajectory planning circular arc smooth trajectory planning algorithm particular domain polygonal line basic principle natural lane kinematic constraint tangential circular arc non-holonomic vehicle
