A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots - Robotics Institute Carnegie Mellon University

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

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.

BibTeX

@techreport{Pivtoraiko-2004-9087,
author = {Mikhail Pivtoraiko and Alonzo Kelly},
title = {A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots},
year = {2004},
month = {December},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-04-68},
}