Pregled bibliografske jedinice broj: 641911
Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications
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:
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZO ) ( CroRIS)
ACROSS
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
Citiraj ovu publikaciju:
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
