Abstract:
Clothoids are very useful for smoothing the motion of a mobile robot moving along a trajectory. This paper addresses the problem of smoothing mobile robot motions when cu...Show MoreMetadata
Abstract:
Clothoids are very useful for smoothing the motion of a mobile robot moving along a trajectory. This paper addresses the problem of smoothing mobile robot motions when cusps, i.e., changes of motion direction along the trajectory, are imposed. We pinpoint some special curves (that we call "anticlothoids") and we discuss how they can be used together with clothoids in order to smooth a predefined trajectory.<>
Published in: IEEE Transactions on Robotics and Automation ( Volume: 11, Issue: 3, June 1995)
DOI: 10.1109/70.388788
