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 |
|---|---|
| Pages (from-to) | 3770-3775 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| Publication status | Published - 2003 Dec 9 |
| Externally published | Yes |
| Event | 2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: 2003 Sep 14 → 2003 Sep 19 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
Cite this
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 journal › Conference article
}
TY - JOUR
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 - 2003/12/9
Y1 - 2003/12/9
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 - http://www.scopus.com/inward/record.url?scp=0344033730&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0344033730&partnerID=8YFLogxK
M3 - Conference article
AN - SCOPUS:0344033730
VL - 3
SP - 3770
EP - 3775
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
SN - 1050-4729
ER -