Finding curvature-constrained paths that avoid polygonal obstacles

Backer, Jonathan; Kirkpatrick, David G.

doi:10.1145/1247069.1247080

Cited by 12 publications

(2 citation statements)

References 12 publications

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“…Due to its relevance to path planning for car-like vehicles, a number of results also exist for the problem of path planning with a constraint on maximum curvature. Backer and Kirkpatrick [98] provide an algorithm for constructing a path with bounded curvature that is polynomial in the number of features of the domain, the precision of the input and the number of segments on the simplest obstacle-free Dubins path connecting the specified configurations. Since the problem of finding a shortest path with bounded curvature amidst polygonal obstacles is NP-hard, it is not surprising that no exact polynomial solution algorithm is known.…”

Section: Graph Search Methodsmentioning

confidence: 99%

A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

Paden

Ćáp

Yong

et al. 2016

IEEE Trans. Intell. Veh.

2,034

976

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Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side-by-side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices. VIConclusions 23 References 23 * The first two authors contributed equally to this work.

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Section: Graph Search Methodsmentioning

confidence: 99%

A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

Paden

Ćáp

Yong

et al. 2016

IEEE Trans. Intell. Veh.

2,034

976

View full text Add to dashboard Cite

show abstract

“…There is a vast literature on bounded curvature paths from the theoretical computer science point of view. We encourage the reader to refer to [1,7,9,11,18,19,12,25,27]. Bounded curvature paths have been applied to many real-life problems since a bound on curvature models the trajectory of the motion of wheeled vehicles, and drones also called unmanned aerial vehicles (UAV).…”

Section: Preludementioning

confidence: 99%

Census of bounded curvature paths

Díaz

Ayala

2019

Geom Dedicata

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A bounded curvature path is a continuously differentiable piece-wise C2 path with bounded absolute curvature connecting two points in the tangent bundle of a surface. These paths have been widely considered in computer science and engineering since the bound on curvature models the trajectory of the motion of robots under turning circle constraints. Analyzing global properties of spaces of bounded curvature paths is not a simple matter since the length variation between length minimizers of arbitrary close endpoints or directions is in many cases discontinuous. In this note, we develop a simple technology allowing us to partition the space of spaces of bounded curvature paths into one-parameter families. These families of spaces are classified in terms of the type of connected components their elements have (homotopy classes, isotopy classes, or isolated points) as we vary a parameter defined in the reals. Consequently, we answer a question raised by Dubins (Pac J Math 11(2):471481, 1961).

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A Complete Approximation Algorithm for Shortest Bounded-Curvature Paths

Backer

Kirkpatrick

2008

Algorithms and Computation

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Finding curvature-constrained paths that avoid polygonal obstacles

Cited by 12 publications

References 12 publications

A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

Census of bounded curvature paths

A Complete Approximation Algorithm for Shortest Bounded-Curvature Paths

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