Parametric Path Planning for a Car-like Robot Using CC Steers

被引：0
|
作者：
Yossawee, Weerakamhaeng [1 ]
Tsubouchi, Takashi [1 ]
Kurisu, Masamitsu
Sarata, Shigeru
机构：
[1] Univ Tsukuba, Intelligent Robot Lab, Tsukuba, Ibaraki 305, Japan
来源：
INTELLIGENT AUTONOMOUS SYSTEMS 9 | 2006年
关键词：
clothoid pair; nonholonomic path planning; upper-bounded curvature and curvature derivative path; continuous-curvature path; frame articulated steering type vehicle;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The present authors have been interested in a smooth locomotion of a wheel loader between any predefined pair of a locally desired initial configuration and a locally desired destination configuration. The success comes from the smooth path generation scheme based on the design of a steering method called "Continuous-Curvature Steer( CC Steer)" which is composed of line segments. clothoid segments and circular arcs.
引用
收藏
页码：613 / +
页数：2
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