Motion Planning for an Autonomous Vehicle
The use of autonomous vehicles for moving materials between workstations is an important consideration in the overall design of a flexible automated factory. An algorithm for computing a collision-free motion for a vehicle with limited steering range is presented and its running time is analyzed. When given m “lanes” on which the vehicle is allowed to move in a polygonal environment of complexity n the algorithm produces a motion with the minimum number of turns between two query placements of the vehicle in time O(m 2) after O(m 2(n 2 + logm)) preprocessing. A restricted version of the algorithm has been implemented.
KeywordsMotion Planning Critical Radius Autonomous Vehicle Adjacency List Entrance Direction
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