PRIMITIVES FOR SMOOTHING MOBILE ROBOT TRAJECTORIES

Authors
FLEURY S SOUERES P LAUMOND JP CHATILA R
Citation
S. Fleury et al., PRIMITIVES FOR SMOOTHING MOBILE ROBOT TRAJECTORIES, IEEE transactions on robotics and automation, 11(3), 1995, pp. 441-448
Citations number
18
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
11
Issue
3
Year of publication
1995
Pages
441 - 448
Database
ISI
SICI code
1042-296X(1995)11:3<441:PFSMRT>2.0.ZU;2-4
Abstract
Clothoids are very useful for smoothing the motion of a mobile robot m oving along a trajectory. This paper addresses the problem of smoothin g mobile robot motions when cusps, i.e., changes of motion direction a long the trajectory, are imposed. We pinpoint some special curves (tha t we call ''anticlothoids'') and me discuss how they can be used toget her with clothoids in order to smooth a predefined trajectory.