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Suboptimal paths in the problem of a planar motion with bounded derivative of the curvature

Abstract : We consider the planar motion of a car-like robot with a bounded derivative of the curvature, with given initial and final configuration (i.e. positions, tangent angles and curvatures). The tangent angle and the curvature of the path are assumed to be continuous. When the distance between the initial and the final point is much greater than the initial and final curvatures and the curvature's derivative, we show how to construct a suboptimal path (the cost is the path length). We admit a finite number of cusps in the path.
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https://hal.inria.fr/inria-00074621
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Submitted on : Wednesday, May 24, 2006 - 3:55:32 PM
Last modification on : Friday, February 4, 2022 - 3:20:06 AM
Long-term archiving on: : Monday, April 5, 2010 - 12:12:26 AM

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  • HAL Id : inria-00074621, version 1

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Vladimir P.P. Kostov, Elena V. Degtiariova-Kostova. Suboptimal paths in the problem of a planar motion with bounded derivative of the curvature. [Research Report] RR-2051, INRIA. 1993. ⟨inria-00074621⟩

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