DocumentCode
791577
Title
Primitives for smoothing mobile robot trajectories
Author
Fleury, Sara ; Souères, Philippe ; Laumond, Jean-Paul ; Chatila, Raja
Author_Institution
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Volume
11
Issue
3
fYear
1995
fDate
6/1/1995 12:00:00 AM
Firstpage
441
Lastpage
448
Abstract
Clothoids are very useful for smoothing the motion of a mobile robot moving along a trajectory. This paper addresses the problem of smoothing mobile robot motions when cusps, i.e., changes of motion direction along the trajectory, are imposed. We pinpoint some special curves (that we call “anticlothoids”) and we discuss how they can be used together with clothoids in order to smooth a predefined trajectory
Keywords
geometry; mobile robots; path planning; anticlothoids; clothoids; cusps; mobile robot trajectory smoothing; motion direction changes; primitives; Automatic control; Equations; Force control; Manipulators; Mobile robots; Orbital robotics; Robot control; Robot motion; Robotics and automation; Smoothing methods;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.388788
Filename
388788
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