Planning Continuous Curvature Paths Using Constructive Polylines | Zendy

Joshua Henrie | Zendy; Doran Wilde | Zendy

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Planning Continuous Curvature Paths Using Constructive Polylines

Author(s) -

Joshua Henrie,

Doran Wilde

Publication year - 2007

Publication title -

journal of aerospace computing information and communication

Language(s) - English

Resource type - Journals

eISSN - 1940-3151

pISSN - 1542-9423

DOI - 10.2514/1.32776

Subject(s) - constructive , planner , curvature , motion planning , path (computing) , computer science , trajectory , artificial intelligence , computer vision , simulation , mathematics , robot , geometry , physics , process (computing) , programming language , astronomy , operating system

Previous methods for planning clothoid based continuous curvature paths aim at minimizing path length. However, minimal length paths are not always smooth, natural, and drivable. We discuss a method of generating clothoid-based trajectories using constructive polylines. The goal of the motion planner is to create a path for a large car-like vehicle in human driving environments, thus, the trajectories must be smooth, drivable, and natural enough to be used on roadways. We show several examples of trajectories developed for a DARPA Urban Challenge vehicle.

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