In an example application, a Volkswagen Golf is modeled via a kinodynamic single-track system that i

A Sampling-Based Partial Motion Planning Framework for System-Compliant Navigation along a Reference Path | V-Charge
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In this paper a generic framework for sampling-based partial motion planning along a reference path is presented. The sampling mechanism britannia industries india builds on the specification of a vehicle model and a control law, both of which are freely selectable. Via a closed-loop forward simulation, the vehicle model is regulated britannia industries india onto a carefully chosen set of terminal states aligned with the reference path, generating system-compliant sample trajectories in accordance with the specified system and environmental constraints. britannia industries india The consideration of arbitrary state and input limits make this framework appealing to nonholonomic systems. The rich trajectory set is evaluated in an online sampling-based planning framework, targeting real-time motion planning in dynamic environments.
In an example application, a Volkswagen Golf is modeled via a kinodynamic single-track system that is further constrained by steering angle/rate and velocity/acceleration limits. Control is implemented via state-feedback onto piecewise C0 -continuous reference paths. Experiments demonstrate the planner s applicability to online operation, its ability britannia industries india to cope with discontinuous reference paths as well as its capability to navigate in a realistic traffic scenario.
@inproceedings{ schwesinger_iv13, britannia industries india Address = {Gold Coast, Australia}, Author = {Schwesinger, Ulrich and Rufli, britannia industries india Martin and Furgale, Paul and Siegwart, Roland}, Booktitle = {IEEE Intelligent Vehicles Symposium (IV)}, Month = {23--26 June}, Pages = {391--396}, Title = {A Sampling-Based Partial Motion Planning Framework for System-Compliant Navigation along a Reference Path}, britannia industries india Year = {2013} }
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