A study of a smooth path generation based on clothoidal curve for autonomous mobile robot

Manabu Shimizu; Kazuyuki Kobayashi; Kajiro Watanabe

doi:10.14864/softscis.2006.0.326.0

SCIS & ISIS 2006

Session ID : TH-D3-2

DOI https://doi.org/10.14864/softscis.2006.0.326.0

Conference information

Host: Japan SOciety for Fuzzy Theory and intelligent informatics

Co-host: The Korea Fuzzy Logic and Intelligent Systems Society, IEEE Computational Intelligence Society, The International Fuzzy Systems Association, 21th Century COE Program "Creation of Agent-Based Social Systems Sciences"

TH-D3 Intelligent Control for Vehicle

A study of a smooth path generation based on clothoidal curve for autonomous mobile robot

*Manabu Shimizu, Kazuyuki Kobayashi, Kajiro Watanabe

Author information

Keywords: path planning, clothoidal path, mobile robot

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

Path planning for an autonomous mobile robot is very important for route navigation. This paper describes a smooth path generation method for an autonomous mobile robot. To achieve smooth path even in a high-speed situation, we employ omni-directional image and laser range profile data to generate an appropriate path based on a clothoidal curve. The generated clothoidal path can minimize the effect of lateral force. The validity of the proposed method is verified by both simulations and actual implementation.

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