Title :
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
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;
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
DOI :
10.1109/TENCON.1992.271846
