ICRA 2011 Paper Abstract


Paper ThP210.4

Girbés, Vicent (Technical University of Valencia), Armesto, Leopoldo (Universidad Politecnica de Valencia Q4618002B), Tornero, Josep (technical university of valencia)

On Generating Continuous-Curvature Paths for Line Following Problem with Curvature and Sharpness Constraints

Scheduled for presentation during the Regular Sessions "Wheeled Robots" (ThP210), Thursday, May 12, 2011, 16:10−16:25, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Wheeled Robots, Motion and Path Planning, Robot Safety


The main contribution of the paper is to provide a method to generate continuous curvature paths in order to converge to a line, based on combinations of clothoids with line segments and circular arcs. Different kinds of continuous curvature paths have been defined in order to solve problems with different complexity. The type of paths that we have generated get the benefits of higher comfort and safety. Generated paths take into account lower and upper bounds of sharpness and curvature simultaneously, while it is not the case of other continuous curvature paths such as Elementary and BiElementary paths. Wheeled mobile robots following a path with continuous curvature may also get benefit on wheels slippage reduction and low odometry errors, since transitions are softer with constant curvature rates.



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