A Boundary-curvature-aware and Continuous-curvature Path Generation Method for Car-like Robots

被引：0
|
作者：
Zhu Qi [1 ]
Li Xiaohui [1 ]
Liu Daxue [1 ]
Sun Zhenping [1 ]
Dai Bin [1 ]
机构：
[1] Natl Univ Def Technol, Coll Mechatron Engn & Automat, Changsha, Hunan, Peoples R China
来源：
PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016 | 2016年
关键词：
car-like robots; path generation; curvature continuous;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to guide the car-like robots run smoothly and steadily, we propose a boundary-curvature-aware and continuous-curvature path generation method based on prior researches. The main contribution of this paper is that the curvature value constraints at both ends of generated paths are well satisfied according to the given start and desired target configurations at the same time of keeping continuous curvature. Experiments show that paths generated by the proposed method keep with fine curvature character.
引用
收藏
页码：6392 / 6396
页数：5
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