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Continuous-Curvature Path Planning for Car-Like Vehicles

Alexis Scheuer 1 Thierry Fraichard 1
1 SHARP - Automatic Programming and Decisional Systems in Robotics
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : In this paper, we consider path planning for a car-like vehicle. Previous solutions to this problem computed paths made up of circular arcs connected by tangential line segments. Such paths have a non continuous curvature profile. Accordingly a vehicle following such a path has to stop at each curvature discontinuity in order to reorient its front wheels. To remove this limitation, we add a continuous-curvature constraint to the problem at hand. In addition, we introduce a constraint on the curvature derivative, so as to reflect the fact that a car-like vehicle can only reorient its front wheels with a finite velocity.We propose an efficient solution to the problem at hand that relies upon the definition of a set of paths with continuous curvature and maximum curvature derivative. These paths contain at most eight pieces, each piece being either a line segment, a circular arc of maximum curvature, or a clothoid arc. They are called SCC-paths (for Simple Continuous Curvature paths). They are used to design a local path planner, i.e. a non-complete collision-free path planner, which in turn is embedded in a global path planning scheme. The result is the first path planner for a car-like vehicle that generates collision-free paths with continuous curvature and maximum curvature derivative. Experimental results are presented.
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Contributor : Alexis Scheuer <>
Submitted on : Tuesday, May 10, 2005 - 6:56:26 PM
Last modification on : Monday, December 28, 2020 - 3:44:01 PM

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Alexis Scheuer, Thierry Fraichard. Continuous-Curvature Path Planning for Car-Like Vehicles. IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, SHARP, INRIA Rhône-Alpes / GRAVIR-IMAG, Sep 1997, Grenoble (FR), France. pp.997-1003, ⟨10.1109/IROS.1997.655130⟩. ⟨inria-00000018⟩

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