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Planning Continuous Curvature Paths Using Constructive Polylines Planning Continuous Curvature Paths Using Constructive Polylines

by Henrie, Joshua H

Abstract (Summary)
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. A method of generating clothoid-based trajectories is discussed 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 generated by the motion planner must be smooth, drivable, and natural such that the vehicle can follow the planned path on human roadways. Several examples are shown of trajectories developed for a DARPA Urban Challenge vehicle and a method of testing the motion planner and the vehicle controller is described.
Bibliographical Information:

Advisor:

School:Brigham Young University

School Location:USA - Utah

Source Type:Master's Thesis

Keywords:motion planning clothoid darpa grand challenge trajectory

ISBN:

Date of Publication:06/13/2008

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