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• W3120677860 abstract "We address the problem of optimal path planning for a Dubins-type nonholonomic vehicle in the presence of obstacles. Most current approaches are either split hierarchically into global path planning and local collision avoidance, or neglect some of the ambient geometry by assuming the car is a point mass. We present a Hamilton-Jacobi formulation of the problem that resolves time-optimal paths and considers the geometry of the vehicle." @default.
• W3120677860 created "2021-01-18" @default.
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• W3120677860 date "2020-12-14" @default.
• W3120677860 modified "2023-10-08" @default.
• W3120677860 title "A Hamilton-Jacobi Formulation for Time-Optimal Paths of Rectangular Nonholonomic Vehicles" @default.
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• W3120677860 doi "https://doi.org/10.1109/cdc42340.2020.9303861" @default.
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