Abstract:We present a partial-differential-equation-based optimal path-planning framework for curvature constrained motion, with application to vehicles in 2-and 3-spatialdimensions. This formulation relies on optimal control theory, dynamic programming, and a Hamilton-Jacobi-Bellman equation. Many authors have developed similar models and work employed grid-based numerical methods to solve the partial differential equation required to generate optimal trajectories. However, these methods can be inefficient and do not … Show more
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