TR2017-102

Existence Conditions of A Class of Continuous Curvature Paths


    •  Dai, J., Wang, Y., "Existence Conditions of A Class of Continuous Curvature Paths", Chinese Control Conference (CCC), DOI: 10.23919/ChiCC.2017.8028426, July 2017.
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      • @inproceedings{Dai2017jul,
      • author = {Dai, Jin and Wang, Yebin},
      • title = {Existence Conditions of A Class of Continuous Curvature Paths},
      • booktitle = {Chinese Control Conference (CCC)},
      • year = 2017,
      • month = jul,
      • doi = {10.23919/ChiCC.2017.8028426},
      • url = {https://www.merl.com/publications/TR2017-102}
      • }
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  • Research Areas:

    Control, Robotics


Local steering, which constructs a kinematically or dynamically feasible path between two configurations, is a core component of various path planning methods. This paper investigates the continuous curvature (CC) steering for car-like robots subject to constraints on velocity, curvature and derivative of the curvature. Based on the u-tangency conditions in [9], we establish existence conditions for a class of CC paths which admit the same driving patterns as the Reeds-Shepp paths [6]. These conditions allow efficient implementation of the CC steering, which enables real-time CC path planning. The feasibility and computation efficiency of the resultant CC steering are validated by numerical simulations.