Continuous Curvature Rate Steering Functions for Sampling-Based Nonholonomic Motion Planning
Автор: Holger Banzhaf
Загружено: 2018-04-17
Просмотров: 790
Описание: This video shows Hybrid Curvature Rate (HCR) and Continuous Curvature Rate (CCR) Steer: Two novel steering functions for car-like robots that compute a curvature rate continuous solution of the two-point boundary value problem. Hard constraints on the maximum curvature, maximum curvature rate, and maximum curvature acceleration are satisfied resulting in directly driveable G3 continuous paths. The generic motion planner Bidirectional RRT* is used to present the effectiveness of HCR and CCR Steer in three challenging automated driving scenarios. A comparison with the curvature discontinuous steering functions Dubins and Reeds-Shepp is given.
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