NDLI: Planning continuous-curvature paths for car-like robots

Content Provider	IEEE Xplore Digital Library
Author	Scheuer, A. Fraichard, Th.
Copyright Year	1996
Description	Author affiliation: INRIA, Montbonnot Saint Martin, France (Scheuer, A.)
Abstract	This paper presents a continuous-curvature path planner (CCPP) for a car-like robot. Previous collision-free path planners for car-like robots compute paths made up of straight segments connected with tangential circular arcs. The curvature of this type of path is discontinuous so much so that if a car-like robot were to actually follow such a path, it would have to stop at each curvature discontinuity so as to reorient its front wheels. CCPP is one of the first planner to compute collision-free paths with continuous curvature profiles. These paths are made up of clothoid arcs, i.e. curves whose curvature is a linear function of their arc length. CCPP uses a general planning technique called the Ariadne's Clew algorithm. It is based upon two complementary functions: SEARCH and EXPLORE. EXPLORE builds an approximation of the region of the configuration space reachable from a start configuration by incrementally placing a set of reachable landmarks in the configuration space. SEARCH checks the existence of a solution path between a landmark newly placed and the goal configuration.
Starting Page	1304
Ending Page	1311
File Size	755748
Page Count	8
File Format	PDF
ISBN	078033213X
DOI	10.1109/IROS.1996.568985
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-11-08
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Mobile robots Wheels Robotics and automation Robot vision systems Orbital robotics Manipulators Axles Network address translation Computer vision
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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