Path Smoothing Using Clothoids for Differential Drive Mobile Robots

Brezak, Mišel; Petrović, Ivan

doi:10.3182/20110828-6-it-1002.02944

Cited by 27 publications

(20 citation statements)

References 9 publications

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“…Then an optimization procedure is employed, which operates directly on the parameters of the new representation rather than on the waypoints. Common representations are Quintic splines [18], B-splines [17] or clothoids [19,20]. Fitting the new representation to the waypoints in general entails a change of the original path and therefore does not guarantee collision-free paths.…”

Section: Related Workmentioning

confidence: 99%

Drive the Drive: From Discrete Motion Plans to Smooth Drivable Trajectories

et al. 2014

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Autonomous navigation in real-world industrial environments is a challenging task in many respects. One of the key open challenges is fast planning and execution of trajectories to reach arbitrary target positions and orientations with high accuracy and precision, while taking into account non-holonomic vehicle constraints. In recent years, lattice-based motion planners have been successfully used to generate kinematically and kinodynamically feasible motions for non-holonomic vehicles. However, the discretized nature of these algorithms induces discontinuities in both state and control space of the obtained trajectories, resulting in a mismatch between the achieved and the target end pose of the vehicle. As endpose accuracy is critical for the successful loading and unloading of cargo in typical industrial applications, automatically planned paths have not been widely adopted in commercial AGV systems. The main contribution of this paper is a path smoothing approach, which builds on the output of a lattice-based motion planner to generate smooth drivable trajectories for non-holonomic industrial vehicles. The proposed approach is evaluated in several industrially relevant scenarios and found to be both fast (less than 2 s per vehicle trajectory) and accurate (end-point pose errors below 0.01 m in translation and 0.005 radians in orientation).

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Section: Related Workmentioning

confidence: 99%

Drive the Drive: From Discrete Motion Plans to Smooth Drivable Trajectories

et al. 2014

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“…3. It is generated using algorithms described in [6] and consists of four clothoids and a straight line segment. It has parts with high curvature in order to better demonstrate Acceleration limits L i (s,ṡ), U j (s,ṡ), and velocity limit curves V ij (s) originating from different constraints are plotted with the following colors: i = 1, j = 1 (blue), i = 2, j = 2 (red), i = 1, j = 2 (green), i = 2, j = 1 (magenta).…”

Section: Resultsmentioning

confidence: 99%

Time-optimal trajectory planning along predefined path for mobile robots with velocity and acceleration constraints

Brezak

Petrović

2011

2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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This paper is concerned with the problem of finding an optimal velocity profile along the predefined path in order to traverse the path in shortest time. A dynamic model of the mobile robot that accounts for robot actuator constraints is derived. It is shown how to use this dynamic model to express acceleration limits and velocity limit curve required by the optimal time-scaling algorithm. The developed trajectory planning algorithm is demonstrated on the Pioneer 3DX mobile robot. A method is very flexible and can be extended to account for other constraints, such as limited grip between the robot wheels and the ground.

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“…Further, by dividing the minimum required length of the lookup table (22) and the maximum sampling interval (25), we obtain minimum number of points in the lookup table. We can notice that this number is invariant to the basic clothoid scaling C L .…”

Section: Determination Of the Lookup Table Parametersmentioning

confidence: 99%

“…The computational simplicity and high approximation accuracy make the proposed method very suitable for high-demanding real-time path-planning applications. We have already successfully applied it for fast real-time path planning and replanning in highly dynamic environments, where a path that consists of straight line segments is smoothed using clothoids [22]. This application belongs to a class of problems where computational simplicity is especially important, as it involves nonlinear equations with clothoids, which due to lack of analytic form, should be solved numerically, requiring a high number of clothoid evaluations.…”

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confidence: 99%

Real-time Approximation of Clothoids With Bounded Error for Path Planning Applications

2014

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We present a method for real-time computation of clothoid coordinates that guarantees bounded approximation error over a wide range of clothoid parameters provided that the clothoid's orientation change and length are bounded. It is shown that coordinates of clothoid with any parameters can be computed from those of a single clothoid (with fixed parameters), using appropriate geometrical transformations. A comprehensive analysis is given on how to determine a required set of clothoids and, based on this, how to sample a clothoid in a lookup table in order to achieve required approximation precision. The algorithm is computationally very efficient and therefore suitable for real-time path planning, as well as for other applications that benefit from fast clothoid computation.

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Path Smoothing Using Clothoids for Differential Drive Mobile Robots

Cited by 27 publications

References 9 publications

Drive the Drive: From Discrete Motion Plans to Smooth Drivable Trajectories

Drive the Drive: From Discrete Motion Plans to Smooth Drivable Trajectories

Time-optimal trajectory planning along predefined path for mobile robots with velocity and acceleration constraints

Real-time Approximation of Clothoids With Bounded Error for Path Planning Applications

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