A path planner enabling second-order continuity across multiple motion modes of the generalized bicycle model

• Published in: International journal of advanced robotic systems Vol. 21; no. 5
• Main Authors: Chen, Yu-Lin, Huang, Yeh-Chih, Chan, Kuei-Yuan
• Format: Journal Article
• Language: English
• Published: London, England SAGE Publications 01.09.2024; SAGE Publishing
• Subjects: Path planning; path continuity; motion planning; generalized bicycle model

In mobile robotics, the generalized bicycle model is notable for its agility and diverse motion capabilities. However, current path planning methods often overlook its potential for multiple motion modes, leading to impractical paths and collision risks in complex environments. To address this, our...