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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Kanayama, Y. Hartman, B.I. |
| Copyright Year | 1989 |
| Description | Author affiliation: Dept. of Comput. Sci., California Univ., Santa Barbara, CA, USA (Kanayama, Y.; Hartman, B.I.) |
| Abstract | Two cost functions of paths for smoothness are defined: path curvature and the derivative of path curvature. Through these definitions, two classes of simple paths are obtained, namely the set of circular arcs and the set of cubic spirals. A cubic spiral is a curve whose tangent direction is described by a cubic function of path distance s. These sets of simple paths are used for solving path planning problems of symmetric posture (position and orientation) pairs. For a nonsymmetric posture pair, two simple paths are used as a solution, based on the fact that the locus of split postures is a circle or a straight line. A posture q is said to be a split posture of a pair (p/sub 1/,p/sub 2/) of postures, if p/sub 1/ and q are symmetric and so are q and p/sub 2/. The resultant solutions are smoother than those obtained using clothoid curves. This algorithm has been successfully implemented on the autonomous mobile robot Yamabico-11. |
| Starting Page | 1265 |
| Ending Page | 1270 |
| File Size | 339746 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818619384 |
| DOI | 10.1109/ROBOT.1989.100154 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1989-05-14 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Path planning Remotely operated vehicles Mobile robots Spirals Robot kinematics Navigation Computer science Cost function Wheels Degradation |
| Content Type | Text |
| Resource Type | Article |
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