Path Planning for a Mobile Robot Considering Maximum Curvature, Maximum Curvature Derivative, and Curvature Continuity

摘要

To achieve smooth motion of car-like robots, it is necessary to generate paths that satisfy the following conditions : maximum curvature, maximum curvature derivative, and curvature continuity. Another requirement is that human operators can manipulate the paths with ease. In this paper, a path expression methodology consisting of line segments, circular arcs, and clothoid arcs are presented. In addition, a method of global path generation with a visibility graph is proposed. To establish this method, the following steps are proposed : (a) the arrangement of subgoals (middle points) and (b) the construction of the graph for path generation. By using the proposed method, the paths were shortened by an averaee of 14%.