A Trajectory Generator for a Mobile Robot in 3D Pathplanning

Liu, Changan; Cheng, Wengang; Zhou, Hong

doi:10.1109/ical.2007.4338760

Cited by 6 publications

(3 citation statements)

References 5 publications

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“…In [ 111 ] authors have considered the bounded-curvature path of the of the three-wheeled omni-directional mobile robot based on a smooth road which is described as a clothoid. Connecting the straight segments by symmetric clothoid curves at the junction has been proposed in [ 112 ]. An overtaking maneuver of mobile robot using clothoids is undertaken in [ 113 ].…”

Section: Path Smoothing Using Special Curvesmentioning

confidence: 99%

Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges

Ravankar

Kobayashi

et al. 2018

Sensors

219

110

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Robot navigation is an indispensable component of any mobile service robot. Many path planning algorithms generate a path which has many sharp or angular turns. Such paths are not fit for mobile robot as it has to slow down at these sharp turns. These robots could be carrying delicate, dangerous, or precious items and executing these sharp turns may not be feasible kinematically. On the contrary, smooth trajectories are often desired for robot motion and must be generated while considering the static and dynamic obstacles and other constraints like feasible curvature, robot and lane dimensions, and speed. The aim of this paper is to succinctly summarize and review the path smoothing techniques in robot navigation and discuss the challenges and future trends. Both autonomous mobile robots and autonomous vehicles (outdoor robots or self-driving cars) are discussed. The state-of-the-art algorithms are broadly classified into different categories and each approach is introduced briefly with necessary background, merits, and drawbacks. Finally, the paper discusses the current and future challenges in optimal trajectory generation and smoothing research.

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Section: Path Smoothing Using Special Curvesmentioning

confidence: 99%

Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges

Ravankar

Kobayashi

et al. 2018

Sensors

219

110

View full text Add to dashboard Cite

show abstract

“…The research in the application of clothoids for the calculation of posturecontinuous paths is proceeding and the most proliferate research area in robotics that explores the application of piecewise-clothoid path segments is 2D path-planning (Wilde (2009), Yossawee et al (2002), Shimizu et al (2006), Zelinsky and Dowson (1992)). Research is also ongoing in 3D path-planning using clothoids (Guiqing et al (2001), Liu et al (2007)).…”

Section: Clothoid-spline Pathsmentioning

confidence: 99%

Geometric Primitives-Based AUV Path Planning In Cluttered Waterspaces

Barisic

Mišković

Vukić

et al. 2010

IFAC Proceedings Volumes

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“…Inertial measurement unit (IMU) signal generators have been used in numerous engineering fields for algorithm testing and verification to reduce experimental costs and shorten developing time under laboratory conditions. It can be used in industrial robots for motion control [ 1 , 2 , 3 ], path planning of unmanned aerial vehicles (UAV) [ 4 ], tightly coupled integrated navigation research [ 5 , 6 , 7 ] and guidance system simulation [ 8 ]. A Global Navigation Satellite System (GNSS) signal simulator is required to generate multiple synchronous signals, one for each satellite in view, and to generate consistent navigation data for the receiver to be able to compute the position.…”

Section: Introductionmentioning

confidence: 99%

IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation

Liu

Tang

et al. 2018

Sensors

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This paper focuses on the problem of high-update-rate and high accuracy inertial measurement unit signal generation. In order to be in accordance with the vehicle’s kinematic and dynamic characteristics as well as the characteristics of pseudorange of post-processed global navigation satellite system and their rate measurements, a novel dual quaternion interpolation and analytic integration algorithm based on actual flight data is proposed. The proposed method can simplify the piecewise analytical expressions of angular rates, angular increments and specific force integral increments. Norm corrections are adopted as constraint conditions to guarantee the accuracy of the signals. Numerical simulations are conducted to validate the method’s performance.

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A Trajectory Generator for a Mobile Robot in 3D Pathplanning

Cited by 6 publications

References 5 publications

Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges

Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges

Geometric Primitives-Based AUV Path Planning In Cluttered Waterspaces

IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation

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