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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
Ahmadzadeh, Ali; Jadbabaie, Ali; Pappas, George J.; and Kumar, Vijay, "Elastic Multi-Particle Systems for Bounded-Curvature Path Planning" (2008). Lab Papers (GRASP). Paper 32.
Date Posted: 01 October 2009