Smooth path planning by using visibility graph-like method

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

*この研究の対応する著者

研究成果: Conference article査読

30 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 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.

本文言語English
ページ(範囲)3770-3775
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
3
出版ステータスPublished - 2003
外部発表はい
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
継続期間: 2003 9 142003 9 19

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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