Bezier curve based path planning for a car-like robot

Title
Bezier curve based path planning for a car-like robot
Authors
김남훈윤정연이승규현동준김창환이성온
Keywords
Bezier curve; path planning; Car-like robot; Obstacle avoidance
Issue Date
2010-11
Publisher
The 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2010)
Citation
, 276-279
Abstract
In this paper we propose a simple path planning algorithm for a car-like robot which is consistent with vehicle kinematics. We generate smooth paths using the properties of Bézier curve to satisfy the steering constraint of the robot. In our algorithm, a cubic Bézier curve which is defined by four control points is used to make an obstacle-free optimal path for a car-like robot. The paper describes how we choose the control points, evaluate generated paths, and select the optimal path for a robot.
URI
http://pubs.kist.re.kr/handle/201004/38930
Appears in Collections:
KIST Publication > Conference Paper
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