论文标题
用于矩形非体力车辆的时间最佳路径的汉密尔顿 - 雅各比制剂
A Hamilton-Jacobi Formulation for Time-Optimal Paths of Rectangular Nonholonomic Vehicles
论文作者
论文摘要
在存在障碍的情况下，我们解决了一种简单的非道路工具的最佳路径计划问题。当前的大多数方法要么分层分为全球路径计划和局部碰撞，要么通过假设汽车是一个点质量来忽略某些环境几何形状。我们提出了解决时间最佳路径并考虑车辆几何形状的问题的汉密尔顿 - 雅各比公式。
We address the problem of optimal path planning for a simple 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.
