Real-time smooth trajectory generation for nonholonomic mobile robots using Bézier curves

This paper focuses on generating smooth trajectories for a wheeled nonholonomic mobile robot using piecewise Bézier curves with properties ideally suited for this purpose. The developed algorithm generates smooth motion trajectories with C2 continuous curvature. We consider a teleoperated wheeled mo...

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Veröffentlicht in:	Robotics and computer-integrated manufacturing 2016-10, Vol.41, p.31-42
Hauptverfasser:	Renny Simba, Kenneth, Uchiyama, Naoki, Sano, Shigenori
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Bezier Bézier curves Ceilings Continuous curvature Curves (geometry) Mobile robot Motion planning Motion trajectory Real time Robots Subdivision algorithm Subdivisions Trajectories
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