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

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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SN - 0387-5024

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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