Elastic Multi-particle Systems for Bounded-curvature Path Planning
Abstract¶
This paper investigates a path planning algorithm for Dubins vehicles. Our approach is based on approximation of the trajectories of vehicles using sequence of waypoints and treating each way point as a moving particle in the space. We define interaction forces between the particles such that the resulting multi-particle system will be stable, moreover, the trajectories generated by the waypoints in the equilibria of the multi-particle system will satisfy all of the hard constraint such as bounded-curvature constraint and obstacle avoidance.
Summary¶
Represents a path as an elastic multi-particle system whose internal forces smooth the path while external forces enforce obstacle and curvature constraints. The method extends elastic-band planning ideas to bounded-curvature vehicles.