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 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
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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.