TR-IIS-02-006    PDF format

Email: hartree@iis.sinica.edu.tw and liu@iis.sinica.edu.tw

This paper addresses a new path planning method, whose objective is to build a process to generate a path which connects two configurations of car-like mobile robots. The generated path is constituted by both cubic spirals and straight lines, and has continuous and bounded curvature. We will show the procedure to find the path with theoretical minimal length and to simplify it for the reason of practical use. Mobile robots with forward and backward driving abilities and only uni-direction driving ability are both considered. This method is flexible and is eligible to incorporate with other constraints like wall-collision avoidance. This will also be discussed.        

Key Words:Path Planning, Mobile Robot, Cubic Spiral, Bounded Curvature, and Continuous Curvature.