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 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 language | English |
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Title of host publication | Proceedings of the 2003 IEEE International Conference on Robotics & Automation |
Publisher | IEEE Institute of Electrical and Electronic Engineers |
Pages | 3770-3775 |
Volume | 3 |
ISBN (Print) | 978-0-7803-7736-3 |
DOIs | |
Publication status | Published - 2003 |
MoE publication type | A4 Article in a conference publication |
Event | 2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: 14 Sept 2003 → 19 Sept 2003 |
Conference
Conference | 2003 IEEE International Conference on Robotics and Automation |
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Country/Territory | Taiwan, Province of China |
City | Taipei |
Period | 14/09/03 → 19/09/03 |