Efficient Clothoid Tree-Based Local Path Planning for Self-Driving Robots
Minhyeong Lee,Dongjun Lee,Minhyeong Lee,Dongjun Lee
In this paper, we propose a real-time clothoid tree-based path planning for self-driving robots. Clothoids, curves that exhibit linear curvature profiles, play an important role in road design and path planning due to their appealing properties. Nevertheless, their real-time applications face considerable challenges, primarily stemming from the lack of a closed-form clothoid expression. To address...
