5 accepted papers
This work considers the problem of generating computationally efficient quadrotor motion primitives between a given pose (position, velocity, and acceleration) and a goal plane in the presence of obstacles. A new motion primitive tool based on the logistic curve is proposed and a closed-form analyti…
The problem of generating smooth parallel parking maneuver for autonomous car-like vehicles is considered, wherein the vehicle moves forward from the starting point to an intermediate point and then traces a path backward to the parking position. Any error in accurately reaching the intermediate poi
This letter considers the existence and synthesis of four parameters logistic paths inside a passage comprised of annular sectors. As the main result, we derive an analytic condition obtaining minimum number of path segments that ensure existence of the path, continuous-curvature variation, and path
Continuous-curvature path planning with obstacle avoidance is considered. Two path shapes, namely, S and half-S shapes derived from four parameter logistic curves are proposed as solution paths. Closed-form analytic conditions are derived for avoiding rectangular and circular obstacles. Using the ze
The problem of continuous curvature path planning for passages is considered. This problem arises when an autonomous vehicle traverses between prescribed boundaries such as corridors, tunnels, channels, etc. Passage boundaries with curvature and heading discontinuities pose challenges for generating…