| Autor: |
Asgeir J. Sørensen, Anastasios M. Lekkas, Thor I. Fossen, Mauro Candeloro |
| Rok vydání: |
2013 |
| Předmět: |
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| Zdroj: |
IFAC Proceedings Volumes. 46:132-137 |
| ISSN: |
1474-6670 |
| Popis: |
This paper presents a two-dimensional curvature-continuous path planning algorithm based on Voronoi diagrams and Fermat's spiral segments. The map and the obstacles position are assumed to be known a-priori and static. Despite the disposition of the obstacles, the Voronoi diagram always presents at least one collision-free path, maximally distant from all the obstacles. If more than one flyable path is available, the shortest one is selected. The result is further refined to obtain a more practical path that is piecewise linear with discontinuous curvature and velocity. Fermat's spirals are used to smooth the path and provide curvature-continuity. A maximum threshold for the curvature is set so that the result of the algorithm respects kinematics and dynamics constraints of the vehicle. Moreover a minimum clearance from the obstacles can be chosen to respect additional safety constraints. The final result of the algorithm is a simple and intuitive path composed only by straight lines and spiral segments. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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