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Path Smoothing Using Clothoids for Differential Drive Mobile Robots


Brezak, Mišel; Petrović, Ivan
Path Smoothing Using Clothoids for Differential Drive Mobile Robots // Proceedings of the 18th IFAC World Congress 2011
Milano, 2011. str. 1133-1138 (poster, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Path Smoothing Using Clothoids for Differential Drive Mobile Robots

Autori
Brezak, Mišel ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 18th IFAC World Congress 2011 / - Milano, 2011, 1133-1138

Skup
18th IFAC World Congress 2011

Mjesto i datum
Milano, Italija, 28.08.-02.09.2011.

Vrsta sudjelovanja
Poster

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Mobile robots; Path planning; Path smoothing; Clothoid; Navigation

Sažetak
This paper presents a new online path-smoothing algorithm for smoothing a path that consists of straight line segments and is primarily intended for differential drive mobile robots. Algorithm allows non-zero initial path curvature, which is important for replanning. Further, algorithm uses clothoid curves as primitives for path smoothing, which have inherent property that their curvature changes proportionally with distance traveled along the curve.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Nedjeljko Perić, )
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb