Smooth path planning by using visibility graph-like method

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

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 journal › Conference article › peer-review

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
Externally published	Yes
Event	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: 2003 Sep 14 → 2003 Sep 19

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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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",

language = "English",

volume = "3",

pages = "3770--3775",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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

}

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

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.

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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

T2 - 2003 IEEE International Conference on Robotics and Automation

Y2 - 14 September 2003 through 19 September 2003

ER -