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

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 expr...

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Veröffentlicht in:	TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 2003/12/25, Vol.69(688), pp.3269-3276
Hauptverfasser:	KITO, Tomomi, OTA, Jun, KATSUKI, Rie, MIZUTA, Takahisa, ARAI, Tamio, UEYAMA, Tsuyoshi, NISHIYAMA, Tsuyoshi
Format:	Artikel
Sprache:	eng ; jpn
Schlagworte:	Automobile Dubins' Curve Graph Search Moving Robot Path Planning Positioning
Online-Zugang:	Volltext
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