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)

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

doi:10.1299/kikaic.69.3269

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

^*Corresponding author for this work

Not published at VTT

University of Tokyo

Research output: Contribution to journal › Article › Scientific › peer-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 contribution	Path Planning for a Mobile Robot Considering Maximum Curvature, Maximum Curvature Derivative, and Curvature Continuity
Original language	Japanese
Pages (from-to)	3269-3276
Number of pages	8
Journal	Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers Series C
Volume	69
Issue number	12
DOIs	https://doi.org/10.1299/kikaic.69.3269
Publication status	Published - Dec 2003
MoE publication type	A1 Journal article-refereed

Keywords

Automobile
Dubins' Curve
Graph Search
Moving Robot
Path Planning
Positioning

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10.1299/kikaic.69.3269

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Kito, T., Ota, J., Katsuki, R., Mizuta, T., Arai, T., Ueyama, T., & Nishiyama, T. (2003). 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). Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers Series C, 69(12), 3269-3276. https://doi.org/10.1299/kikaic.69.3269

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title = "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)",

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%.",

keywords = "Automobile, Dubins' Curve, Graph Search, Moving Robot, Path Planning, Positioning",

author = "Tomomi Kito and Jun Ota and Rie Katsuki and Takahisa Mizuta and Tamio Arai and Tsuyoshi Ueyama and Tsuyoshi Nishiyama",

year = "2003",

month = dec,

doi = "10.1299/kikaic.69.3269",

language = "Japanese",

volume = "69",

pages = "3269--3276",

journal = "Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers Series C",

issn = "0387-5024",

publisher = "Japan Society of Mechanical Engineers",

number = "12",

}

Kito, T, Ota, J, Katsuki, R, Mizuta, T, Arai, T, Ueyama, T & Nishiyama, T 2003, '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)', Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers Series C, vol. 69, no. 12, pp. 3269-3276. https://doi.org/10.1299/kikaic.69.3269

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). / Kito, Tomomi; Ota, Jun; Katsuki, Rie et al.
In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers Series C, Vol. 69, No. 12, 12.2003, p. 3269-3276.

Research output: Contribution to journal › Article › Scientific › peer-review

TY - JOUR

T1 - 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)

AU - Kito, Tomomi

AU - Ota, Jun

AU - Katsuki, Rie

AU - Mizuta, Takahisa

AU - Arai, Tamio

AU - Ueyama, Tsuyoshi

AU - Nishiyama, Tsuyoshi

PY - 2003/12

Y1 - 2003/12

N2 - 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%.

AB - 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%.

KW - Automobile

KW - Dubins' Curve

KW - Graph Search

KW - Moving Robot

KW - Path Planning

KW - Positioning

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DO - 10.1299/kikaic.69.3269

M3 - Article

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VL - 69

SP - 3269

EP - 3276

JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers Series C

JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers Series C

IS - 12

ER -

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)

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