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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)


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


Projekt / tema
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )
ACROSS

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb

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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