Smooth path planning by using visibility graph-like method

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

doi:10.1109/ROBOT.2003.1242175

Smooth path planning by using visibility graph-like method

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
Denso Wave Inc.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

35 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 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
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	https://doi.org/10.1109/ROBOT.2003.1242175
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
Country/Territory	Taiwan, Province of China
City	Taipei
Period	14/09/03 → 19/09/03

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10.1109/ROBOT.2003.1242175

Cite this

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title = "Smooth path planning by using visibility graph-like method",

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.",

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

year = "2003",

doi = "10.1109/ROBOT.2003.1242175",

language = "English",

isbn = "978-0-7803-7736-3",

volume = "3",

pages = "3770--3775",

booktitle = "Proceedings of the 2003 IEEE International Conference on Robotics \& Automation",

publisher = "IEEE Institute of Electrical and Electronic Engineers",

address = "United States",

note = "2003 IEEE International Conference on Robotics and Automation ; Conference date: 14-09-2003 Through 19-09-2003",

}

Kito, T, Ota, J, Katsuki, R, Mizuta, T, Arai, T, Ueyama, T & Nishiyama, T 2003, Smooth path planning by using visibility graph-like method. in Proceedings of the 2003 IEEE International Conference on Robotics & Automation. vol. 3, IEEE Institute of Electrical and Electronic Engineers, pp. 3770-3775, 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Province of China, 14/09/03. https://doi.org/10.1109/ROBOT.2003.1242175

Smooth path planning by using visibility graph-like method. / Kito, Tomomi; Ota, Jun; Katsuki, Rie et al.
Proceedings of the 2003 IEEE International Conference on Robotics & Automation. Vol. 3 IEEE Institute of Electrical and Electronic Engineers, 2003. p. 3770-3775.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - Smooth path planning by using visibility graph-like method

AU - Kito, Tomomi

AU - Ota, Jun

AU - Katsuki, Rie

AU - Mizuta, Takahisa

AU - Arai, Tamio

AU - Ueyama, Tsuyoshi

AU - Nishiyama, Tsuyoshi

PY - 2003

Y1 - 2003

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 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.

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 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.

UR - https://www.scopus.com/pages/publications/0344033730

U2 - 10.1109/ROBOT.2003.1242175

DO - 10.1109/ROBOT.2003.1242175

M3 - Conference article in proceedings

AN - SCOPUS:0344033730

SN - 978-0-7803-7736-3

VL - 3

SP - 3770

EP - 3775

BT - Proceedings of the 2003 IEEE International Conference on Robotics & Automation

PB - IEEE Institute of Electrical and Electronic Engineers

T2 - 2003 IEEE International Conference on Robotics and Automation

Y2 - 14 September 2003 through 19 September 2003

ER -

Smooth path planning by using visibility graph-like method

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