Trajectory generation with curvature constraint based on energy minimization
- 9 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 206-211
- https://doi.org/10.1109/iros.1991.174451
Abstract
The trajectory generation problem for mobile robots consists in providing a set of trajectories that are 'smooth' and meet certain boundary conditions. The authors present a method to generate curvature continuous trajectories for which the curvature profile is a polynomial function of arc length. An algorithm based on the deformation of a curve by energy minimization allows one to solve general geometric constraints which was not possible by previous methods. Furthermore, it is able to take into account the limitation of radius of curvature of the robot by controlling the extrema of curvature along the path.<>Keywords
This publication has 6 references indexed in Scilit:
- Continuous-curvature paths for autonomous vehiclesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Smooth local path planning for autonomous vehiclesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Energy functions for regularization algorithmsPublished by SPIE-Intl Soc Optical Eng ,1991
- Path Generation for Robot Vehicles Using Composite Clothoid SegmentsPublished by Defense Technical Information Center (DTIC) ,1990
- On minimal energy trajectoriesComputer Vision, Graphics, and Image Processing, 1990
- The Curve of Least EnergyACM Transactions on Mathematical Software, 1983