Pregled bibliografske jedinice broj: 524668
Path Smoothing Using Clothoids for Differential Drive Mobile Robots
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)
CROSBI ID: 524668 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
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, 28.08.2011. - 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
Projekti:
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Perić, Nedjeljko, MZO ) ( CroRIS)
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
