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 |
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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 | |
Publication status | Published - Dec 2003 |
MoE publication type | A1 Journal article-refereed |
Keywords
- Automobile
- Dubins' Curve
- Graph Search
- Moving Robot
- Path Planning
- Positioning