Title :
Computing clothoid segments for trajectory generation
Author_Institution :
Electr. & Comput. Eng. Dept., Brigham Young Univerisity, Provo, UT, USA
Abstract :
A new, simple, and fast method to compute the sharpness and curvature of a clothoid segment of a continuous curvature path is presented. When generating continuous curvature paths, clothoid segments are needed to connect straight segments to perfect arc segments. This algorithm is part of a new trajectory generator and motion planner that generates smooth, natural, drivable paths, using a minimal amount of steering to reach the desired ending position similar to the way a human would drive.
Keywords :
curve fitting; mobile robots; motion control; path planning; steering systems; computing clothoid segment; continuous curvature path; motion planner; trajectory generation; Acceleration; Humans; Intelligent robots; Mobile robots; Motion planning; Remotely operated vehicles; Trajectory; Turning; Velocity control; Wheels; Motion planning; autonomous vehicle; clothoid; mobile robot; nonholonomic system; trajectory generation;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354700
