Titre :
|
Mobile robot path planning for fine-grained and smooth path specifications
|
Auteurs :
|
D. Shin ;
A. Ollero
|
Type de document :
|
article/chapitre/communication
|
Année de publication :
|
1995
|
Format :
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p.491-503
|
Langues:
|
= Anglais
|
Catégories :
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ELECTRONIQUE AUTOMATIQUE
|
Mots-clés:
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GUIDAGE
;
ROBOTIQUE MOBILE
;
SIMULATION
|
Résumé :
|
This article introduces and draws a comparison on B-splines and clothoids for generating fine-grained, smooth path specifications as applied to mobile robot path planning. At one level, a sequence of objective points that the robot must attain to avoid obstacles and to progress toward its goal are supplied by a coarse path planner. Using B-spline and clothoid curves, these objective points are converted into a path of finer detail, as requisite to a robot driving controller/tracker.
|
Source :
|
Journal of robotic systems, vol 12, n°7
|