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A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots
M. 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: NREC
Associated project: PerceptOR (NREC)

Number of pages: 21

Text Reference

M. 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",
   institution = "Robotics Institute, Carnegie Mellon University",
   month = "December",
   year = "2004",
   number = "CMU-RI-TR-04-68",
   address = "Pittsburgh, PA"
}