Local Obstacle-Skirting Path Planning for a Fast Bi-steerable Rover using Bézier Curves
Mohamed Fnadi,Wenqian Du,Rafael Gomes da Silva,Frédéric Plumet,Falz Benamar,Mohamed Fnadi,Wenqian Du,Rafael Gomes da Silva,Frédéric Plumet,Falz Benamar
This paper focuses on local path planning for obstacle avoidance tasks dedicated to off-road mobile robots. This approach calculates a new local path for the vehicle using a set of cubic Bezier curves once the safety distance is not respected; otherwise, the vehicle follows the global reference path which is defined off-line. Two basic steps are used to determine this new path. Firstly, some signi...
