engleski

Path Smoothing Using Clothoids for Differential Drive Mobile Robots

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.

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

nije evidentirano