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: Contribution to journalConference article

28 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 languageEnglish
Pages (from-to)3770-3775
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 2003 Dec 9
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

Fingerprint

Motion planning
Visibility
Robots
Railroad cars
Derivatives

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Kito, T., Ota, J., Katsuki, R., Mizuta, T., Arai, T., Ueyama, T., & Nishiyama, T. (2003). Smooth path planning by using visibility graph-like method. Proceedings - IEEE International Conference on Robotics and Automation, 3, 3770-3775.

Smooth path planning by using visibility graph-like method. / Kito, Tomomi; Ota, Jun; Katsuki, Rie; Mizuta, Takahisa; Arai, Tamio; Ueyama, Tsuyoshi; Nishiyama, Tsuyoshi.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 3, 09.12.2003, p. 3770-3775.

Research output: Contribution to journalConference article

Kito, T, Ota, J, Katsuki, R, Mizuta, T, Arai, T, Ueyama, T & Nishiyama, T 2003, 'Smooth path planning by using visibility graph-like method', Proceedings - IEEE International Conference on Robotics and Automation, vol. 3, pp. 3770-3775.
Kito, Tomomi ; Ota, Jun ; Katsuki, Rie ; Mizuta, Takahisa ; Arai, Tamio ; Ueyama, Tsuyoshi ; Nishiyama, Tsuyoshi. / Smooth path planning by using visibility graph-like method. In: Proceedings - IEEE International Conference on Robotics and Automation. 2003 ; Vol. 3. pp. 3770-3775.
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