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}
}