Please use this identifier to cite or link to this item: https://doi.org/10.1109/ISIC.2007.4450861
Title: Polar polynomial curve for smooth, collision-free path generation between two arbitrary configurations for nonholonomic robots
Authors: Lai, X.C.
Mamun, A.A. 
Ge, S.S. 
Keywords: Collision checking
Curvature constraint
Dynamic constraints
Nonholonomic robots
Polar polynomial
Issue Date: 2008
Source: Lai, X.C.,Mamun, A.A.,Ge, S.S. (2008). Polar polynomial curve for smooth, collision-free path generation between two arbitrary configurations for nonholonomic robots. 22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control : 59-64. ScholarBank@NUS Repository. https://doi.org/10.1109/ISIC.2007.4450861
Abstract: This paper studies a geometric-based method for smooth path generation for nonholonomic mobile robots, which are subject to dynamic and curvature constraints. It first studies polar polynomial curve and its properties for it to be used in curvature-smooth transition. In the design of such a path, it is examinable whether the robot constraints and curvature requirement are satisfied. Then, connection using such a curve is extended to the case that the robot is performing rotation at its start position. Next, a computationally efficient way is proposed for collision test of the curve in order to achieve real-time path planning. Finally, extensive simulation experiments are carried out to verify the proposed method. © 2007 IEEE.
Source Title: 22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control
URI: http://scholarbank.nus.edu.sg/handle/10635/71463
ISBN: 142440441X
DOI: 10.1109/ISIC.2007.4450861
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