Art

J-GLOBAL ID：200902205716655035   Reference number：04A0066344

Path Planning for a Mobile Robot Considering Maximum Curvature, Maximum Curvature Derivative, and Curvature Continuity

最大曲率,最大曲率変化率,曲率連続性を考慮した移動ロボットの経路生成法

Author (7)： KITO TOMOMI (東大 大学院) ,  OTA JUN (東大 大学院) ,  KATSUKI RIE (東大 大学院) ,  MIZUTA TAKAHISA (日本テレビ放送網) ,  ARAI TAMIO (東大 大学院) ,  UEYAMA TSUYOSHI (DENSO WAVE) ,  NISHIYAMA TSUYOSHI (DENSO WAVE)
Material： 日本機械学会論文集 C編  (Transactions of the Japan Society of Mechanical Engineers. Series C)
Volume： 69  Issue： 688  Page： 3269-3276  Publication year： Dec. 25, 2003 
JST Material Number： F0045B  ISSN： 0387-5024  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： JAPANESE (JA)

Thesaurus term： curvature ,...
Semi thesaurus term： path planning

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JST classification (1)： Motion and control of robots  (IC04012J)

Reference (12)：

• LAUMOND, J.-P. A Motion Planner for Nonholonomic Mobile Robots. IEEE Trans. Robotics and Automation. 1994, 10, 5, 577-593
• SHIN, D. H. Mobile Robot Path Planning for Fine-Grained and Smooth Path Specifications. Journal of Robotic Systems. 1995, 12, 7, 491-503
• DUBINS, L. E. On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents. American Journal of Mathematics. 1957, 79, 497-516
• JACOBS, P. Planning Smooth Paths for Mobile Robots. Proc. of IEEE Int. Conf. on Robotics and Automation, 1989. 1989, 2-7
• KOMORIYA, K. Trajectory Design and Control of a Wheel-type Mobile Robot using B-spline Curve. Proc. of IEEE/RSJ Int. Workshop on Intelligent Robots and Systems, 1989. 1989, 398-405

Terms in the title (5)： 曲率 ,  変化率 ,  連続性 ,  ロボット ,  経路生成