Cart (Loading....) | Create Account
Close category search window
 

Polar Polynomial Curve for Smooth, Collision-free Path Generation Between Two Arbitrary Configurations for Nonholonomic Robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Xue Cheng Lai ; Nat. Univ. of Singapore, Singapore ; Al Mamun, A. ; Shuzhi Sam Ge

This paper studies a geometric-based method for smooth path generation for nonholonomic mobile robots, which are subject to dynamic and curvature constraints. It first studies polar polynomial curve and its properties for it to be used in curvature-smooth transition. In the design of such a path, it is examinable whether the robot constraints and curvature requirement are satisfied. Then, connection using such a curve is extended to the case that the robot is performing rotation at its start position. Next, a computationally efficient way is proposed for collision test of the curve in order to achieve realtime path planning. Finally, extensive simulation experiments are carried out to verify the proposed method.

Published in:

Intelligent Control, 2007. ISIC 2007. IEEE 22nd International Symposium on

Date of Conference:

1-3 Oct. 2007

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.