Primitives for smoothing mobile robot trajectories

Abstract

The problem of smoothing mobile robot motions when cusps, i.e. changes of motion direction along the trajectory, are imposed is treated. The authors pinpoint some special curves, called anticlothoids, and it is shown how they can be used together with clothoids to smooth a predefined trajectory.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>