@inproceedings{4ccf5797e56844a99f17dd51ef65b905,
title = "PD-Bug: A Novel Motion Planning Algorithm for Nonholonomic Car-Like Robots in Unknown Environments",
abstract = "In this work, we propose a novel motion planning algorithm for nonholonomic car-like robots in unknown environments. The proposed algorithm termed Polynomial spiral and Dubins path Bug (PD-Bug) is developed as a variant of TangentBug. Considering the errors of range measurements and the shape of a robot, an environment model termed local target set (LTS) is established to provide an optimal local target during each planning period. For localization errors, a more robust motion mode switching mechanism is integrated into PD-Bug. A lookup table for cubic polynomial spirals is generated offline, providing a smooth and optimized trajectory with curvature constraints. The Dubins path is generated online as the sub-optimal solution and utilized to meet the orientation requirement of the target. We validate the applicability of PD-Bug in outdoor scenarios with real-time requirements. Compared with the traditional Bug algorithms, PD-Bug has a significant improvement in the robustness of the motion mode and the smoothness of the trajectory.",
keywords = "Bug algorithms, car-like robots, motion planning, unknown environments",
author = "Fukang Xu and Xudong Zhang and Yuan Zou and Xin Yin",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 5th CAA International Conference on Vehicular Control and Intelligence, CVCI 2021 ; Conference date: 29-10-2021 Through 31-10-2021",
year = "2021",
doi = "10.1109/CVCI54083.2021.9661178",
language = "English",
series = "2021 5th CAA International Conference on Vehicular Control and Intelligence, CVCI 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2021 5th CAA International Conference on Vehicular Control and Intelligence, CVCI 2021",
address = "United States",
}