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

研究成果

抄録

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.

本文言語English
ホスト出版物のタイトル2021 IEEE 17th International Conference on Automation Science and Engineering, CASE 2021
出版社IEEE Computer Society
ページ1568-1573
ページ数6
ISBN(電子版)9781665418737
DOI
出版ステータスPublished - 2021 8 23
イベント17th IEEE International Conference on Automation Science and Engineering, CASE 2021 - Lyon, France
継続期間: 2021 8 232021 8 27

出版物シリーズ

名前IEEE International Conference on Automation Science and Engineering
2021-August
ISSN(印刷版)2161-8070
ISSN(電子版)2161-8089

Conference

Conference17th IEEE International Conference on Automation Science and Engineering, CASE 2021
国/地域France
CityLyon
Period21/8/2321/8/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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