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
相关论文
共 50 条
  • [31] A linearizing feedback for stabilizing a car-like robot following a curvilinear path
    A. V. Pesterev
    [J]. Journal of Computer and Systems Sciences International, 2013, 52 : 819 - 830
  • [32] Hybrid control of a car-like robot
    Sequeira, J
    Ribeiro, MI
    [J]. ROMOCO' 04: PROCEEDINGS OF THE FOURTH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL, 2004, : 167 - 173
  • [33] INTEGRATED PATH PLANNING AND TRACKING FOR AUTONOMOUS CAR-LIKE VEHICLES MANEUVERING
    Gomez-Bravo, Fernando
    Lopez, Diego A.
    Real, Francisco
    Merino, Luis
    Matamoros, Jose M.
    [J]. ICINCO 2009: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2: ROBOTICS AND AUTOMATION, 2009, : 457 - +
  • [34] Optimal Path Planning for Car-like Off-road Vehicles
    Linker, Raphael
    Blass, Tamir
    [J]. 2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2, 2008, : 207 - 211
  • [35] Car-like mobile robot path planning in rough terrain using multi-objective particle swarm optimization algorithm
    Wang, Baofang
    Li, Sheng
    Guo, Jian
    Chen, Qingwei
    [J]. NEUROCOMPUTING, 2018, 282 : 42 - 51
  • [36] Path Planning and Control of Differential and Car-like Robots in Narrow Environments
    Nagy, Akos
    Csorvasi, Gabor
    Kiss, Domokos
    [J]. 2015 IEEE 13TH INTERNATIONAL SYMPOSIUM ON APPLIED MACHINE INTELLIGENCE AND INFORMATICS (SAMI), 2015, : 103 - 108
  • [37] Path following for a car-like robot using transverse feedback linearization and tangential dynamic extension
    Akhtar, Adeel
    Nielsen, Christopher
    [J]. 2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), 2011, : 7974 - 7979
  • [38] Local incremental planning for a car-like robot navigating among obstacles
    Bemporad, A
    DeLuca, A
    Oriolo, G
    [J]. 1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 1205 - 1211
  • [39] Continuous Curvature Constrained Shortest Path for a Car-Like Robot Using S-Roadmaps
    Xidias, Elias K.
    Aspragathos, Nikos A.
    [J]. 2013 21ST MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2013, : 13 - 18
  • [40] LQR Controller for Car-like Robot
    Lin Fengda
    Lin Zijian
    Qiu Xiaohong
    [J]. PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 2515 - 2518
12345