Computer Aided Systems Theory - EUROCAST 2013

This paper proposes a proper combination of on the one hand a local time-optimal path planner fulfilling the basic kinematic and dynamic constraints of wheeled vehicles, and on the other hand, a continuous and bounded curvature derivative Bézier closed-form metrics. As a result of this, a nearly time-optimal path with continuous and bounded curvature profile will be generated, if possible, to connect two configurations while avoiding obstacles.

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