Continuous-curvature paths for mobile robots | Zendy

Emese Gincsainé Szádeczky-Kardoss | Zendy; Bálint Kiss | Zendy

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Continuous-curvature paths for mobile robots

Author(s) -

Emese Gincsainé Szádeczky-Kardoss,

Bálint Kiss

Publication year - 2009

Publication title -

periodica polytechnica electrical engineering

Language(s) - English

Resource type - Journals

eISSN - 1587-3781

pISSN - 0324-6000

DOI - 10.3311/pp.ee.2009-1-2.08

Subject(s) - curvature , motion planning , focus (optics) , bounded function , mobile robot , path (computing) , robot , trajectory , computer science , plan (archaeology) , motion (physics) , topology (electrical circuits) , mathematics , geometry , artificial intelligence , mathematical analysis , physics , combinatorics , geography , archaeology , astronomy , optics , programming language

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.

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