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Smooth path planning by using visibility graph-like method | IEEE Conference Publication | IEEE Xplore

Smooth path planning by using visibility graph-like method


Abstract:

To achieve smooth motion of car-like robots, it is necessary to generate paths that satisfy the following conditions: maximum curvature, maximum curvature derivative, and...Show More

Abstract:

To achieve smooth motion of car-like robots, it is necessary to generate paths that satisfy the following conditions: maximum curvature, maximum curvature derivative, and curvature continuity. Another requirement is that human operators can manipulate the robots with ease. In this paper, a path expression methodology consisting of line segments, circular arcs and clothoid arcs is presented. In addition, a method of global path generation with a visibility graph is proposed. To establish this method, the following steps are proposed: (a) the arrangement of subgoals (middle points) and (b) the construction of the graph for path generation. By using the proposed method, the paths were shortened 14% on average.
Date of Conference: 14-19 September 2003
Date Added to IEEE Xplore: 10 November 2003
Print ISBN:0-7803-7736-2
Print ISSN: 1050-4729
Conference Location: Taipei, Taiwan

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