Path planning for mobile and hyper-redundant robots using Pythagorean hodograph curves

Author

Bruyninckx, Herman ; Reynaerts, Dominiek

Author_Institution

Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium

fYear

1997

fDate

7-9 Jul 1997

Firstpage

595

Lastpage

600

Abstract

Pythagorean hodograph curves (PH curves) have a number of advantages over other splines commonly used in planar robot path planning: (1) the integral of curvature is small; (2) the curve, its length, curvature and total “bending energy” are known in closed-form; (3) start and end positions and directions are straightforwardly usable as boundary conditions; and (4) length can be traded off against curvature quite easily. These facts make PH curves especially interesting for the planning of car-like mobile robot paths, as well as for the calculation of the “backbone curve” in the inverse kinematics of hyper-redundant robots

Keywords

iterative methods; mobile robots; path planning; redundancy; robot kinematics; splines (mathematics); Pythagorean hodograph curves; bending energy; boundary conditions; curvature; hyper-redundant robots; inverse kinematics; mobile robot; path planning; splines; Angular velocity; Axles; Boundary conditions; Kinematics; Mechanical engineering; Mechanical splines; Mobile robots; Motion planning; Path planning; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620243

Filename

620243