A practical path-planning algorithm for a simple car: a Hamilton-Jacobi approach
- Resource Type
- Authors
- Ryo Takei; Yanina Landa; Haochong Shen; Richard Tsai
- Source
- Scopus-Elsevier
- Subject
- Mathematical optimization
Partial differential equation
Numerical analysis
Finite difference
Trajectory
Motion planning
Turning radius
Optimal control
Hamilton–Jacobi equation
Mathematics
- Language
We consider the problem of optimal path planning of a forward moving simple car with a minimum turning radius (a Dubins' car), in a known environment possibly containing inpenetrable obstacles. We model this problem in the Hamilton-Jacobi partial differential equation framework, and provide a finite difference numerical method to solve it. Furthermore, we introduce and demonstrate a scheme based on this framework to steer a bidirectional micro-car on a testbed [29].