DocumentCode
1866151
Title
Primitives for smoothing mobile robot trajectories
Author
Fleury, Sara ; Souéres, Philippe ; Laumond, Jean-Paul ; Chatila, Raja
Author_Institution
LAAS-CNRS, Toulouse, France
fYear
1993
fDate
2-6 May 1993
Firstpage
832
Abstract
The problem of smoothing mobile robot motions when cusps, i.e. changes of motion direction along the trajectory, are imposed is treated. The authors pinpoint some special curves, called anticlothoids, and it is shown how they can be used together with clothoids to smooth a predefined trajectory
Keywords
computational geometry; mobile robots; position control; anticlothoids; clothoids; collision avoidance; geometry; mobile robot; motion smoothing; trajectory smoothing; Equations; Length measurement; Mobile robots; Q measurement; Rail transportation; Road transportation; Shape; Smoothing methods; Spirals; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.292080
Filename
292080
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