Obstacle-avoiding Path Planning for High Velocity Wheeled Mobile Robots

Authors:	Villagra Jorge, PSA Peugeot-Citroën, France Mounier Hugues, Institut d’Electronique Fondamentale, Université Paris-Sud, France
Topic:	4.3 Robotics
Session:	Mobile Robots I
Keywords:	vehicle dynamics, path planning, splines, smoothness criterion,obstacle avoidance

Abstract

This paper presents a new motion planning algorithm for wheeledmobile robots in presence of known static obstacles, especially well-suited for highvelocity situations. It takes into account several conditions traditionally attachedto smooth path planning, i.e. paths with continuous derivative and upper-boundedcurvature. It makes use of a global path planner which exploits polynomial G3curves characteristics.