Name
Abstract | ||
|---|---|---|
This article introduces and draws a comparison on B-splines and clothoids for generating fine-grained, smooth path specifications as applied to mobile robot path planning. At one level, a sequence of objective points that the robot must attain to avoid obstacles and to progress toward its goal are supplied by a coarse path planner. Using B-spline and clothoid curves, these objective points are converted into a path of finer detail, as requisite to a robot driving controller/tracker. Through experimental results with the NavlabII, a mobile robot vehicle at Carnegie Mellon University (CMU), we differentiate the advantages of this approach over conventional poly-line fit/round corner used to date. (C) 1995 John Wiley & Sons, Inc. |
Year | DOI | Venue |
|---|---|---|
1995 | 10.1002/rob.4620120704 | JOURNAL OF ROBOTIC SYSTEMS |
Keywords | Field | DocType |
mobile robot,path planning | Control theory,Mobile robots path planning,Planner,Control engineering,Artificial intelligence,Control system,Engineering,Robot,Robotics,Mobile robot | Journal |
Volume | Issue | ISSN |
12 | 7.0 | 0741-2223 |
Citations | PageRank | References |
4 | 0.69 | 0 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dong Hun Shin | 1 | 38 | 18.90 |
| Aníbal Ollero | 2 | 1109 | 123.55 |