Elastic Multi-Particle Systems for Bounded-Curvature Path Planning

Ali Ahmadzadeh, University of Pennsylvania
Ali Jadbabaie, University of Pennsylvania
George J. Pappas, University of Pennsylvania
Vijay Kumar, University of Pennsylvania

Article comments

Copyright 2008 IEEE. Reprinted from:
Ahmadzadeh, A.; Jadbabaie, A.; Pappas, G.J.; Kumar, V., "Elastic multi-particle systems for bounded-curvature path planning," American Control Conference, 2008 , vol., no., pp.5035-5040, 11-13 June 2008
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4587292&isnumber=4586444

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.

Abstract

This paper investigates a path planning algorithm for Dubins vehicles. Our approach is based on approximation of the trajectories of vehicles using sequence of waypoints and treating each way point as a moving particle in the space. We define interaction forces between the particles such that the resulting multi-particle system will be stable, moreover, the trajectories generated by the waypoints in the equilibria of the multi-particle system will satisfy all of the hard constraint such as bounded-curvature constraint and obstacle avoidance.