Title :
Primitives for smoothing mobile robot trajectories
Author :
Fleury, Sara ; Souéres, Philippe ; Laumond, Jean-Paul ; Chatila, Raja
Author_Institution :
LAAS-CNRS, Toulouse, France
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;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292080
