Dynamic motion planning of autonomous vehicles

@article{Shiller1991DynamicMP,
  title={Dynamic motion planning of autonomous vehicles},
  author={Zvi Shiller and Yu-Rwei Gwo},
  journal={IEEE Trans. Robotics Autom.},
  year={1991},
  volume={7},
  pages={241-249}
}
A method for planning the motions of autonomous vehicles moving on general terrains is presented that obtains the geometric path and vehicle speeds that minimize motion time considering vehicle dynamics, terrain topography, obstacles, and surface mobility. The terrain is represented by a smooth cubic B patch, and the geometric path consists of a B spline curve mapped to the surface. The time-optimal motions are computed by first obtaining the best obstacle-free path from all paths represented… Expand
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