• DocumentCode
    702115
  • Title

    G3-splines for the path planning of wheeled mobile robots

  • Author

    Piazzi, Aurelio ; Romano, Massimo ; Bianco, Corrado Guarino Lo

  • Author_Institution
    Università di Parma - Dipartimento di Ingegneria dell´Informazione, Parco Area delle Scienze, 181/A - I-43100 Parma - Italy
  • fYear
    2003
  • fDate
    1-4 Sept. 2003
  • Firstpage
    1845
  • Lastpage
    1850
  • Abstract
    This paper deals with generation of smooth paths for the navigation of wheeled mobile robots by means of the iterative steering technique. A new motion planning primitive called G3-spline or η-spline is proposed. It is a seventh order polynomial spline that permits the interpolation of an arbitrary sequence of points with associated arbitrary direction, curvature and curvature derivative. Adopting this path planning, the robot´s control inputs can be obtained by means of a dynamic path inversion procedure ensuring the continuity of velocities and accelerations. This new spline depends on a vector with six parameters (η) that can be used to finely shape the path. The paper includes both theoretical results and path planning examples.
  • Keywords
    Interpolation; Mobile robots; Path planning; Planning; Polynomials; Splines (mathematics); dynamic path inversion; iterative steering; path planning; polynomial splines; wheeled mobile robots;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    European Control Conference (ECC), 2003
  • Conference_Location
    Cambridge, UK
  • Print_ISBN
    978-3-9524173-7-9
  • Type

    conf

  • Filename
    7085234
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=702115