Tom Thumb Algorithm for Planning Simple Vehicle Motions

摘要

In this report, an algorithm for planning smooth collision-free paths, togetherwith the velocities along that path, is presented. In this algorithm a search technique, which uses a heuristic rule to guide the search process, is applied. We will use interval arithmetic for checking both collisions and mechanical constraints. The algorithm is demonstrated with a mathematical model of a mobile robot such as constructed in the Mobile Autonomous Robot Twente (MART) project.