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

Brezak, Mišel; Petrović, Ivan

doi:10.1109/tro.2013.2283928

Cited by 118 publications

(66 citation statements)

References 26 publications

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“…Clothoids have the advantage that the curvature changes linearly. However, the calculation of Frenels integrals, which cannot be solved analytically, requires numerical approximations; see Brezak and Petrovic (2013). Clothoid-based approaches were used for example by Cariou, Lenain, Thuilot, and Martinet (2010) to plan autonomous half-turn maneuvers for a vehicle/trailer system, and by (Sabelhaus, Roben, Helligenand, & Lammers, 2013) to plan half-turn maneuvers for agricultural vehicles.…”

Section: Literature Reviewmentioning

confidence: 99%

Mobile Robot Trajectory Planning Under Kinematic and Dynamic Constraints for Partial and Full Field Coverage

Cariou¹,

Gobor

Seiferth

et al. 2017

Journal of Field Robotics

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The constantly rising food demand of a steadily increasing world population requires improvement in efficiency, competitiveness, and productivity of current meat and dairy production systems. Thus, robotics‐based approaches have an important role to play, especially in dairy cattle farming, because the intensive grazing systems depend on numerous time‐consuming and tedious operations required to be carried out to assure an optimal cattle feeding as well as utilization of forage resources. These operations range from data acquisition considering the amount and quality of available forage within the paddocks, to carrying out maintenance operations in order to safeguard high yield with required quality and availability of the forage throughout the whole grazing season. This issue is addressed within the ICT‐AGRI project i‐LEED, in which one of the main tasks is to build accurate and feasible trajectories for a scouting and a maintenance robot to fully or partially cover the paddocks, as well as to reach only targeted spots previously located. This paper presents an original and fully operational method for trajectory planning by designing segments of clothoids while taking into account additional dynamic constraints, such as the steering rate capacity of the robot, its speed, and the maximally allowed transverse acceleration. In case of specific points to reach within a paddock, this approach is completed by morphological operations to first define regions and next rank them w.r.t. the minimal length of travel by solving the traveling salesman problem. Based on the kinematic and dynamic properties of the scouting and maintenance robots devoted to the i‐LEED project, the performances of the proposed planning approaches are presented.

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Section: Literature Reviewmentioning

confidence: 99%

Mobile Robot Trajectory Planning Under Kinematic and Dynamic Constraints for Partial and Full Field Coverage

Cariou¹,

Gobor

Seiferth

et al. 2017

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

“…There have been a lot of smooth path generation methods for the vehicle and the continuous curvature path has been focused for its close relationship with vehicle parameters and driving comfort [1,2] The smooth path for the nonholonomic vehicle have been investigated by numerous groups. Dubins [3], Reeds-Shepp [4] and Fraichard-Scheure [5] are prominent pioneering works and its advanced model are carried out by other groups such as [6,7,8,9]. The path is composed by clothoids, straight lines and circular arcs segments for its continuity of curvature under the parametrical constraints.…”

Section: Introductionmentioning

confidence: 99%

Parametric Continuous Curvature Path for Smooth Steering with Car-like Vehicles

Gim

Adouane

Lee

et al. 2015

Intelligent Autonomous Systems 13

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Abstract. This paper proposes a solution to obtain parametric continuous curvature path for nonholonomic car-like vehicle and addresses also efficient algorithm to obtain an appropriate reference path for smooth path following. As a local planner using parametrically adjustable clothoid, the proposed solution, of constant sharpness, permits to obtain continuous curvature and thus smooth steering behavior of the vehicle which enhances the passenger comfort. The proposed parametric continuous curvature path is integrated in a global planner which includes an appropriate way of isolating the boundary conditions of each local planner. This last characteristic is useful to reconstruct a smooth reference path from raw data of actual vehicle trajectory. The solution is applied to a real road datasets and tested using Lyapunov based controller for validating the effectiveness on path following performance. The simulated results show reliable and enhanced performance for vehicle path following when the proposed algorithms are used.

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“…On the other hand, the use of small integration steps can increase the computation accuracy, but the computational burden increases as well, making clothoids unfeasible for real-time path planning applications. Nevertheless, approximations of clothoids that differ from the usual numerical integration methods and do not depend on the integration step have been proposed (HEALD, 1985;BREZAK;PETROVIC, 2014;VÁZQUEZ-MÉNDEZ;CASAL, 2016). In this work, the real-time bounded approximation of clothoids using lookup table described by Brezak and Petrovic (2014) is used.…”

Section: Final Considerationsmentioning

confidence: 99%

“…Nevertheless, approximations of clothoids that differ from the usual numerical integration methods and do not depend on the integration step have been proposed (HEALD, 1985;BREZAK;PETROVIC, 2014;VÁZQUEZ-MÉNDEZ;CASAL, 2016). In this work, the real-time bounded approximation of clothoids using lookup table described by Brezak and Petrovic (2014) is used. General clothoid coordinates are fast computed by reorienting and rescaling a basic clothoid stored in the lookup table.…”

Section: Final Considerationsmentioning

confidence: 99%

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Piecewise linear continuous-curvature path planning for autonomous vehicles

Silva¹

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2018Trata-se da versão corrigida da dissertação. A versão original se encontra disponível na EESC/USP que aloja o Programa de Pós-Graduação de Engenharia Elétrica. Autonomous vehicles have increasingly become an attractive field due its promising capabilities of improvements regarding safety, comfort, traffic flow etc. A required attribute for those vehicles is the ability of autonomously compute its path towards a destination point. The path must be planned considering the constructive aspects of the vehicle in order to guarantee the maneuver feasibility. This work consists on computing a feasible path for autonomous vehicles with non-holonomic constraints. Piecewise linear continuouscurvature paths constituted of clothoids, circular arcs, and straight lines are used for this purpose, providing passenger's comfort. The road network is modeled from GPS (Global Positioning System) vehicle trajectories by defining lanes, roundabouts and intersections. GPS points are used later to parameterize lanes using clothoids and to extract roundabout centers and radii. This approach provides a sparse road network model since GPS points are replaced by parameterized curves. The information about connections between roads coming from the model is used by a global path planner, which computes a minimal length route from the vehicle current position to the destination point. After that, path planners compute intersection and roundabout paths depending on the nature of connections between roads. Also, lanes changes are performed to obey traffic rules. These three path planners that connects adjacent roads use clothoids, circular arc, and straight lines as interpolating curves whose curvature is constrained to that the vehicle can perform: the intersection path planner uses only a minimal amount of steering to perform the maneuver, increasing the comfort level; the roundabout path planner takes the roundabout center and radius as well as parameters that defines the entrance and exit maneuvers to compute the path; the lane change path planner connects lanes belonging to the same road with a prescribed longitudinal traveled distance depending on whether this maneuver is required. In the end, an global continuous-curvature path is generated. As the result of this work, a real urban scenario is modeled and the proposed approaches are validated. Veículos autônomos têm cada vez mais se tornado um campo atraente de pesquisa devido às suas capacidades promissoras de melhorias em segurança, conforto, fluxo de tráfego, etc. Um atributo necessário para esses veículos é a capacidade de calcular, de forma autônoma, o seu caminho para um ponto de destino. O percurso deve ser planejado considerando os aspectos construtivos do veículo para que a viabilidade das manobras a serem executadas seja garantida. Este trabalho consiste no planejamento de trajetória para veículos autônomos com restrições não-holonômicas. Utilizam-se, para esse efeito, trajetórias cuja curvatura seja contínua e linear por partes, constituídas por clotóides, arcos de circun...

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

Cited by 118 publications

References 26 publications

Mobile Robot Trajectory Planning Under Kinematic and Dynamic Constraints for Partial and Full Field Coverage

Mobile Robot Trajectory Planning Under Kinematic and Dynamic Constraints for Partial and Full Field Coverage

Parametric Continuous Curvature Path for Smooth Steering with Car-like Vehicles

Piecewise linear continuous-curvature path planning for autonomous vehicles

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