A steering method for the kinematic car using C*CS paths
- Resource Type
- Conference
- Authors
- Kiss, Domokos; Tevesz, Gabor
- Source
- Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Control Conference (ICCC), 2014 15th International Carpathian. :227-232 May, 2014
- Subject
- Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Planning
Measurement
Approximation methods
Kinematics
Wheels
Motion segmentation
Mobile robot
car-like vehicle
kinematic constraints
path planning
topological property
- Language
A steering method for local path generation of car-like robots is presented in this paper. It is shown that in the absence of obstacles there are infinitely many solutions between two arbitrary configurations in the form of C*CS paths. This property facilitates the application of this class of paths in global planning algorithms where collisions with obstacles have to be avoided. In addition, we show that the steering method based on C*CS paths satisfies the topological property, hence a complete path planning algorithm can be constructed based on it.