A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots

Mihail Pivtoraiko. A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots. Technical Report CMU-RI-TR-04-68, Robotics Institute, Carnegie Mellon University, 2004.

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Abstract

In this report we present an overview of our investigation into constructing motion templates. We start with a successful implementation of elementary concepts that worked well on previous projects, then proceed with a generalization of that approach through a study of spatial distinctness of the same type of paths, and finally present a further generalization that looks at all possible motions through space.

BibTeX

@TECHREPORT{pivtoraiko_tr04,
  author = {Mihail Pivtoraiko},
  title = {A Study of Polynomial Curvature Clothoid Paths for Motion Planning
	for Car-like Robots},
  institution = {Robotics Institute, Carnegie Mellon University},
  year = {2004},
  number = {CMU-RI-TR-04-68},
  abstract = {In this report we present an overview of our
                  investigation into constructing motion templates. We
                  start with a successful implementation of elementary
                  concepts that worked well on previous projects, then
                  proceed with a generalization of that approach
                  through a study of spatial distinctness of the same
                  type of paths, and finally present a further
                  generalization that looks at all possible motions
                  through space.},
  bib2html_pubtype = {Tech Reports},
  bib2html_rescat = {Kinodynamic Planning},
  owner = {mihail},
  timestamp = {2010.08.07}
}

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