Smooth path planning by using visibility graph-like method

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

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

31 Citations (Scopus)


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 robots with ease. In this paper, a path expression methodology consisting of line segments, circular arcs and clothoid arcs is 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 14% on average.

Original languageEnglish
Title of host publicationProceedings of the 2003 IEEE International Conference on Robotics & Automation
PublisherIEEE Institute of Electrical and Electronic Engineers
ISBN (Print)978-0-7803-7736-3
Publication statusPublished - 2003
MoE publication typeA4 Article in a conference publication
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 14 Sept 200319 Sept 2003


Conference2003 IEEE International Conference on Robotics and Automation
Country/TerritoryTaiwan, Province of China


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