Path Planning for a Mobile Robot Considering Maximum Curvature, Maximum Curvature Derivative, and Curvature Continuity

Tomomi Kito; Jun Ota; Rie Katsuki; Takahisa Mizuta; Tamio Arai; Tsuyoshi Ueyama; Tsuyoshi Nishiyama

doi:10.1299/kikaic.69.3269

Path Planning for a Mobile Robot Considering Maximum Curvature, Maximum Curvature Derivative, and Curvature Continuity

Tomomi Kito^*, Jun Ota, Rie Katsuki, Takahisa Mizuta, Tamio Arai, Tsuyoshi Ueyama, Tsuyoshi Nishiyama

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

To achieve smooth motion of car-like robots, it is necessary to generate paths that satisfy the following conditions: maximum curvature, maximum curvature derivative, and curvature continuity. Another requirement is that human operators can manipulate the paths with ease. In this paper, a path expression methodology consisting of line segments, circular arcs, and clothoid arcs are presented. In addition, a method of global path generation with a visibility graph is proposed. To establish this method, the following steps are proposed: (a) the arrangement of subgoals (middle points) and (b) the construction of the graph for path generation. By using the proposed method, the paths were shortened by an average of 14%.

Original language	English
Pages (from-to)	3269-3276
Number of pages	8
Journal	Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	69
Issue number	12
DOIs	https://doi.org/10.1299/kikaic.69.3269
Publication status	Published - 2003 Dec
Externally published	Yes

Keywords

Automobile
Dubins' Curve
Graph Search
Moving Robot
Path Planning
Positioning

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.69.3269

Cite this

Kito, T., Ota, J., Katsuki, R., Mizuta, T., Arai, T., Ueyama, T., & Nishiyama, T. (2003). Path Planning for a Mobile Robot Considering Maximum Curvature, Maximum Curvature Derivative, and Curvature Continuity. Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 69(12), 3269-3276. https://doi.org/10.1299/kikaic.69.3269

Path Planning for a Mobile Robot Considering Maximum Curvature, Maximum Curvature Derivative, and Curvature Continuity. / Kito, Tomomi; Ota, Jun; Katsuki, Rie et al.
In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 69, No. 12, 12.2003, p. 3269-3276.

Research output: Contribution to journal › Article › peer-review

Kito, T, Ota, J, Katsuki, R, Mizuta, T, Arai, T, Ueyama, T & Nishiyama, T 2003, 'Path Planning for a Mobile Robot Considering Maximum Curvature, Maximum Curvature Derivative, and Curvature Continuity', Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, vol. 69, no. 12, pp. 3269-3276. https://doi.org/10.1299/kikaic.69.3269

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Path Planning for a Mobile Robot Considering Maximum Curvature, Maximum Curvature Derivative, and Curvature Continuity

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Keywords

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