3 accepted papers
Navigation in agricultural fields imposes various constraints on manoeuvrability, which can be tackled by using four-wheel steering (4WS) vehicles which are capable of switching between multiple steering mechanisms with distinct kinematic properties. For example, parallel positive steering (PPS) wit…
This paper firstly presents our optimal path planning algorithm within a 2\mathrm{D}2\mathrm{D} non-convex, polytopic region defined as a sequence of connected convex polytopes. The path is a B-spline curve but being parametrized with its equivalent Bézier representation. By doing this, the local co…
We propose a 2D path planning algorithm in a non-convex workspace defined as a sequence of connected convex polytopes. The reference path is parameterized as a B-spline curve, which is guaranteed to entirely remain within the workspace by exploiting the local convexity property and by formulating li…