Name
Abstract | ||
|---|---|---|
We consider a problem of trajectory planning for mobile robot in a two-dimensional plane. In particular, we develop a method for constructing trajectories with the curvature satisfying given upper bound. The trajectories are constructed as smoothing splines employing B-splines as the basis functions and are planned for road-like path with piecewise linear boundaries. Expressing the curvature in terms of the control points of B-splines, the problem is formulated as a nonlinear semi-infinite optimization problem. Constraints on velocity and acceleration can also be included. The effectiveness of the proposed method is verified by numerical experiments, first by a simple crank-like path in details and then by more complex path with sharp corners. |
Year | Venue | Field |
|---|---|---|
2018 | 2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC) | B-spline,Applied mathematics,Curvature,Upper and lower bounds,Control theory,Computer science,Smoothing spline,Basis function,Optimization problem,Mobile robot,Trajectory |
DocType | ISSN | Citations |
Conference | 0743-1619 | 0 |
PageRank | References | Authors |
0.34 | 0 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hiroyuki Kano | 1 | 0 | 0.34 |
| Hiroyuki Fujioka | 2 | 37 | 13.37 |