کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
715765 | 892209 | 2013 | 6 صفحه PDF | دانلود رایگان |

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.
Journal: IFAC Proceedings Volumes - Volume 46, Issue 33, 2013, Pages 132–137