Continuous smooth path execution for an autonomous guided vehicle (AGV)

Author

Zelinsky, A. ; Dowson, I.

Author_Institution

Dept. of Comput. Sci., Wollongong Univ., NSW, Australia

fYear

1992

Firstpage

871

Abstract

A method for converting a series of line segments generated by a high-level path planner for an AGV to a combination of continuous smooth curves and straight line paths is presented. Ideally, the straight line path segments should be connected by circular arcs. The AGV´s angular velocity along the straight paths is zero and will not smoothly connect the angular velocity moments required to traverse the circular arcs. Therefore, a transition curve (clothoid) needs to be generated to smoothly connect these angular moments. A technique for computing the clothoid transition curves for an AGV to execute is given. The method was implemented on a Macintosh II computer and was used to control a mobile robot

Keywords

Apple computers; angular velocity control; automatic guided vehicles; microcomputer applications; mobile robots; path planning; AGV; Macintosh II computer; angular velocity moments; autonomous guided vehicle; circular arcs; clothoid transition curves; continuous smooth path execution; high-level path planner; line segments; mobile robot; Acceleration; Angular velocity; Australia; Computer science; Intelligent robots; Intelligent vehicles; Mobile robots; Path planning; Remotely operated vehicles; Shafts;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON '92. ''Technology Enabling Tomorrow : Computers, Communications and Automation towards the 21st Century.' 1992 IEEE Region 10 International Conference.

Conference_Location

Melbourne, Vic.

Print_ISBN

0-7803-0849-2

Type

conf

DOI

10.1109/TENCON.1992.271846

Filename

271846