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Primitives for smoothing mobile robot trajectories

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4 Author(s)
Fleury, S. ; Lab. d''Autom. et d''Anal. des Syst., CNRS, Toulouse, France ; Soueres, P. ; Laumond, J.-P. ; Chatila, R.

Clothoids are very useful for smoothing the motion of a mobile robot moving along a trajectory. This paper addresses the problem of smoothing mobile robot motions when cusps, i.e., changes of motion direction along the trajectory, are imposed. We pinpoint some special curves (that we call “anticlothoids”) and we discuss how they can be used together with clothoids in order to smooth a predefined trajectory

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Robotics and Automation, IEEE Transactions on  (Volume:11 ,  Issue: 3 )