Continuous-curvature trajectory planning

• Autorzy: Roth Jörg

Identyfikatory

DOI

10.14313/JAMRIS/1-2021/2

• Języki publikacji: EN

Abstrakty

EN

Continuous-curvature paths play an important role in the area of driving robots: as vehicles usually cannot change the steering angle in zero-time, real trajectories must not have discontinuities in the curvature profile. Typical continuous-curvature paths are thus built of straight lines, arcs and clothoids. Due to the geometric nature of clothoids, some questions in the area of trajectory planning are difficult the answer – usually we need approximations here. In this paper we describe a full approach for continuous-curvature trajectory planning for mobile robots – it covers a maneuver-based planning with Viterbi optimization and geometric approximations required to construct the respective clothoid trajectories.

Słowa kluczowe

EN

mobile robot; trajectory planning; continuous-curvature paths; clothoid

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2021
• Tom: Vol. 15, No. 1
• Strony: 9--23
• Opis fizyczny: Bibliogr. 25 poz., rys.

Twórcy

autor

Roth Jörg

• Faculty of Computer Science, Nuremberg Institute of Technology, Nuremberg, Germany

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).