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 -