Open AccessContinuous-Curvature Trajectory Planning
Author(s) -
Jörg Roth
Publication year - 2021
Publication title -
journal of automation, mobile robotics and intelligent systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.137
H-Index - 8
eISSN - 1897-8649
pISSN - 2080-2145
DOI - 10.14313/jamris/1-2021/2
Subject(s) - curvature , trajectory , classification of discontinuities , computer science , robot , motion planning , trajectory optimization , construct (python library) , mathematical optimization , algorithm , mathematics , geometry , artificial intelligence , mathematical analysis , optimal control , physics , astronomy , programming language
Continuous‐curvature paths play an important role in the area of driving robots: as vehicles usually cannot changethe 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.