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Elastic Multi-Particle Systems for Bounded-Curvature Path Planning
Lab Papers (GRASP)
  • Ali Ahmadzadeh, University of Pennsylvania
  • Ali Jadbabaie, University of Pennsylvania
  • George J Pappas, University of Pennsylvania
  • Vijay Kumar, University of Pennsylvania
Document Type
Conference Paper
Date of this Version
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

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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.
  • collision avoidance,
  • multi-robot systems,
  • Dubins vehicles,
  • bounded-curvature constraint,
  • bounded-curvature path planning,
  • elastic multiparticle systems,
  • interaction forces,
  • obstacle avoidance
Citation Information
Ali Ahmadzadeh, Ali Jadbabaie, George J Pappas and Vijay Kumar. "Elastic Multi-Particle Systems for Bounded-Curvature Path Planning" (2008)
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