Path Planning for a Mobile Robot Considering Maximum Curvature, Maximum Curvature Derivative, and Curvature Continuity

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

研究成果: Article

1 被引用数 (Scopus)

抄録

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 paths with ease. In this paper, a path expression methodology consisting of line segments, circular arcs, and clothoid arcs are 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 by an average of 14%.

本文言語English
ページ(範囲)3269-3276
ページ数8
ジャーナルNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
69
12
DOI
出版ステータスPublished - 2003 12
外部発表はい

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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