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Conference papers

Planning Continuous-Curvature Paths for Car-Like Robots

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 : This paper presents a Continuous-Curvature Path Planner (CCPP) for a car-like robot. Existing planners for car-like robots compute paths made up of straight segments connected with tangential circular arcs. The curvature of this type of path is discontinuous (the discontinuities occurring at the transitions between segments and arcs), and when it is time for a car-like robot to actually follow such a path, it has to stop at each transition so as to reorient its front wheels. CCPP is one of the first to compute collision-free paths with continuous curvature profiles. These paths are made up of clothoid arcs (a clothoid is a curve whose curvature is a linear function of its arc length). CCPP uses a general planning technique called the Ariadne's Clew algorithm [mazer:etal:ias:93]. It is based upon two complementary functions: SEARCH and EXPLORE. EXPLORE builds an approximation of the region of the configuration space reachable from a start configuration by incrementally placing a set of reachable landmarks in the configuration space. SEARCH checks the existence of a solution path between a landmark newly placed and the goal configuration.
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Contributor : Alexis Scheuer <>
Submitted on : Thursday, May 12, 2005 - 6:47:23 PM
Last modification on : Monday, December 28, 2020 - 3:44:01 PM




Alexis Scheuer, Thierry Fraichard. Planning Continuous-Curvature Paths for Car-Like Robots. IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, School of Engineering, Osaka University, Nov 1996, Osaka (JP), Japan. pp.1304-1311, ⟨10.1109/IROS.1996.568985⟩. ⟨inria-00000022⟩



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