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Pregled bibliografske jedinice broj: 641911

Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications


Brezak, Mišel; Petrović, Ivan
Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications // Ieee transactions on robotics, 30 (2014), 2; 507-515 doi:10.1109/TRO.2013.2283928 (međunarodna recenzija, članak, znanstveni)


CROSBI ID: 641911 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications

Autori
Brezak, Mišel ; Petrović, Ivan

Izvornik
Ieee transactions on robotics (1552-3098) 30 (2014), 2; 507-515

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
clothoid approximation; Fresnel integrals; path planning; motion control

Sažetak
We present a method for real-time computation of clothoid coordinates that guarantees bounded approximation error over a wide range of clothoid parameters provided that clothoid’s orientation change and length are bounded. It is shown that coordinates of clothoid with any parameters can be computed from those of a single clothoid (with fixed parameters), using appropriate geometrical transformations. A comprehensive analysis is given on how to determine a required set of clothoids and, based on this, how to sample a clothoid in a lookup table in order to achieve required approximation precision. The algorithm is computationally very efficient and therefore suitable for real-time path planning, as well as for other applications that benefit from fast clothoid computation.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekti:
ACROSS
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZOS ) ( POIROT)

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Mišel Brezak (autor)

Avatar Url Ivan Petrović (autor)

Citiraj ovu publikaciju

Brezak, Mišel; Petrović, Ivan
Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications // Ieee transactions on robotics, 30 (2014), 2; 507-515 doi:10.1109/TRO.2013.2283928 (međunarodna recenzija, članak, znanstveni)
Brezak, M. & Petrović, I. (2014) Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications. Ieee transactions on robotics, 30 (2), 507-515 doi:10.1109/TRO.2013.2283928.
@article{article, year = {2014}, pages = {507-515}, DOI = {10.1109/TRO.2013.2283928}, keywords = {clothoid approximation, Fresnel integrals, path planning, motion control}, journal = {Ieee transactions on robotics}, doi = {10.1109/TRO.2013.2283928}, volume = {30}, number = {2}, issn = {1552-3098}, title = {Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications}, keyword = {clothoid approximation, Fresnel integrals, path planning, motion control} }
@article{article, year = {2014}, pages = {507-515}, DOI = {10.1109/TRO.2013.2283928}, keywords = {clothoid approximation, Fresnel integrals, path planning, motion control}, journal = {Ieee transactions on robotics}, doi = {10.1109/TRO.2013.2283928}, volume = {30}, number = {2}, issn = {1552-3098}, title = {Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications}, keyword = {clothoid approximation, Fresnel integrals, path planning, motion control} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


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