最大曲率,最大曲率変化率,曲率連続性を考慮した移動ロボットの経路生成法(機械力学,計測,自動制御)

Translated title of the contribution: Path Planning for a Mobile Robot Considering Maximum Curvature, Maximum Curvature Derivative, and Curvature Continuity

Tomomi Kito, Jun Ota, Rie Katsuki, Takahisa Mizuta, Tamio Arai, Tsuyoshi Ueyama, Tsuyoshi Nishiyama

Research output: Contribution to journalArticleScientificpeer-review

2 Citations (Scopus)

Abstract

To achieve smooth motion of car-like robots, it is necessary to generate paths that satisfy the following conditions: maximum curvature, maximum curvature derivative, and curvature continuity. Another requirement is that human operators can manipulate the paths with ease. In this paper, a path expression methodology consisting of line segments, circular arcs, and clothoid arcs are presented. In addition, a method of global path generation with a visibility graph is proposed. To establish this method, the following steps are proposed: (a) the arrangement of subgoals (middle points) and (b) the construction of the graph for path generation. By using the proposed method, the paths were shortened by an average of 14%.

Translated title of the contributionPath Planning for a Mobile Robot Considering Maximum Curvature, Maximum Curvature Derivative, and Curvature Continuity
Original languageJapanese
Pages (from-to)3269-3276
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume69
Issue number12
DOIs
Publication statusPublished - Dec 2003
MoE publication typeA1 Journal article-refereed

Keywords

  • Automobile
  • Dubins' Curve
  • Graph Search
  • Moving Robot
  • Path Planning
  • Positioning

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