2P2-E08 車輪型ロボットのためのステアリングセットによる経路探索法

概要

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This paper describes a new path planning method for car-like robots using precalculated steering sets including three trajectory types : straight, right and left. Our planner searches for a shorter path with this steering sets. Path planning using A^* needs to check all neighboring cells of a current grid cell, so it takes time. This new planning method needs to only check a collision on the edge of the steering sets where shape is precalculated by a B-Spline curve. Also when A^* is used to search a grid map, the path can have sharp changes of direction which are not smooth. A trajectory using such a path is not suitable for a car-like robots. Path planning with steering sets is used to construct trajectories with smooth changes in direction. We made a simulator of the path planner, and estimated suitable parameters to implement steering sets path planning on a real car-like robot. We also checked planning logs from the simulator, and compared it with an A^* planner.
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