IEEE - Institute of Electrical and Electronics Engineers, Inc. - Relaxing nonholonomic constraints: Towards continuous-curvature Dubins paths

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

Author(s): Salah Bazzi ; Elie Shammas ; Daniel Asmar
Sponsor(s): IEEE Ind. Electron. Soc. (IES)
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2015
Conference Location: Busan, South Korea
Conference Date: 7 July 2015
Page(s): 737 - 742
ISBN (Electronic): 978-1-4673-9107-8
ISBN (USB): 978-1-4673-9106-1
DOI: 10.1109/AIM.2015.7222625
Regular:

In this paper we propose a new method to tackle the problem of discontinuous curvature observed in the time-optimal Dubins trajectories of car-like robots. The discontinuous curvature profile... View More

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