A Study of Fairness Functionals for Smooth Path Planning in Mobile Robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Smoothness of mobile and vehicle navigation has become relevant to ensure the safety and the comfortability of riding. The robotics community has been able to render smooth trajectories in mobile robots by using non-linear optimization approaches and well-known fairness metrics considering the curvature variations along the path. In this paper, we evaluate the possibility of computing smooth paths from input reference trajectories by using higher order non-linear fairness functionals. Our approach is potential to enable the generation of simple and computationally-efficient path planning and smoothing for navigation in mobile robots.

Original languageEnglish
Title of host publication2021 IEEE 17th International Conference on Automation Science and Engineering, CASE 2021
PublisherIEEE Computer Society
Pages1568-1573
Number of pages6
ISBN (Electronic)9781665418737
DOIs
Publication statusPublished - 2021 Aug 23
Event17th IEEE International Conference on Automation Science and Engineering, CASE 2021 - Lyon, France
Duration: 2021 Aug 232021 Aug 27

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2021-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference17th IEEE International Conference on Automation Science and Engineering, CASE 2021
Country/TerritoryFrance
CityLyon
Period21/8/2321/8/27

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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