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

Mikhail Pivtoraiko
tech. report CMU-RI-TR-04-68, Robotics Institute, Carnegie Mellon University, December, 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.

Notes
Associated Center(s) / Consortia: National Robotics Engineering Center
Associated Project(s): PerceptOR
Number of pages: 21

Text Reference
Mikhail Pivtoraiko, "A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots," tech. report CMU-RI-TR-04-68, Robotics Institute, Carnegie Mellon University, December, 2004

BibTeX Reference
@techreport{Pivtoraiko_2004_4911,
   author = "Mikhail Pivtoraiko",
   title = "A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots",
   booktitle = "",
   institution = "Robotics Institute",
   month = "December",
   year = "2004",
   number= "CMU-RI-TR-04-68",
   address= "Pittsburgh, PA",
}