Continuous-Curvature Paths for Mobile Robots

Author	Gincsainé Szádeczky-Kardoss, Emese
Author	Kiss, Bálint
Date Accessioned	2016-09-04T21:31:28Z
Date Available	2016-09-04T21:31:28Z
Date Issued	2009
Abstract	Abstract This paper discusses how to plan continuous-curvature paths for car-like wheeled mobile robots. The task is to generate a trajectory with upper-bounded curvature and curvature derivative. To solve this problem we use three path planning primitives, namely straight line segments, circular segments, and continuous-curvature turns (CC turns) in the path planning. We give a classification of the CC turns and we also describe the motion along different kinds of CC turns. We focus on giving computational effective formulae for real-time usage.
URI	http://hdl.handle.net/10890/3191
dc.language.iso	en
Publisher	Budapest University of Technology and Economics
Title	Continuous-Curvature Paths for Mobile Robots
Type	folyóiratcikk
Access Rights	Open access
ISSN, e-ISSN	0324-6000
ISSN, e-ISSN	1587-3781
Numbr	1-2
Volume	53
Title	Periodica Polytechnica - Electrical Engineering
Version	Preprint
First Page	63
Other Identifier: MTMT	2636105
Other Identifier: Scopus	79959387356
Last Page	72
Subject Word (OSZKAR)	car-like mobile robot
Subject Word (OSZKAR)	path planning
Subject Word (OSZKAR)	continuous-curvature
Gender	Tudományos cikk

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