Continuous-curvature paths for mobile robots

Authors

  • Emese Szádeczky-Kardoss
  • Bálint Kiss
https://doi.org/10.3311/pp.ee.2009-1-2.08

Abstract

This paper discusses how to plan continuous-curvature paths for car-like wheeled mobile robots. The task is to generate a trajectory with upper-bounded curvature and curvature derivative. To solve this problem we use three path planning primitives, namely straight line segments, circular segments, and continuous-curvature turns (CC turns) in the path planning. We give a classification of the CC turns and we also describe the motion along different kinds of CC turns. We focus on giving computational effective formulae for real-time usage.

Keywords:

car-like mobile robot, path planning, continuous-curvature

How to Cite

Szádeczky-Kardoss, E., Kiss, B. “Continuous-curvature paths for mobile robots”, Periodica Polytechnica Electrical Engineering, 53(1-2), pp. 63–72, 2009. https://doi.org/10.3311/pp.ee.2009-1-2.08

Issue

Section

Articles