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The main interest of this library is to offer smooth (continuous-curvature) efficient (close to the optimal) motions for mobile robots. This first version handles forward-only 2D paths where clothoids are used to connect line segments to circular arcs: curvature continuity has less importance when the robot can stop, and efficient selection of other locally optimal parts still needs complementary studies.
Obtained paths correspond to locally optimal motions with constant velocity for mobile robots, either car-like or with differential-wheels (e.g. Hilare or Khepera). Classical paths (with a discontinuous curvature profile, i.e. Dubins paths) are also provided. Both paths can also be used for humanoids or aerial robots, as the motion constraints of those are similar to those of wheeled mobile robots.
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