An Experimental Investigation into Curvature Uncertainties in Executing Piecewise Continuous Dubins Curves in Path Planning

被引：1

作者：

Shanmugavel, Madhavan ^{[1
]}

Ragavan, Sampath Kumar Veera ^{[1
]}

Quek, Hui Jean ^{[1
]}

Gobithaasan, R. U. ^{[2
]}

Piah, Abd. Rahni Mt ^{[3
]}

机构：

[1] Monash Univ Malaysia, Sch Engn, Mechatron, Bandar Sunway 47500, Malaysia

[2] Univ Malaysia Terengganu, Sch Informat & Appl Math, Kuala Terengganu 21030, Malaysia

[3] Univ Sains Malaysia, Sch Math Sci, Usm Penang 11800, Malaysia

来源：

2015 THIRD INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE, MODELLING AND SIMULATION (AIMS 2015) | 2015年

关键词：

curvature; uncertainties; path planning; motion planning; velocity control;

D O I：

10.1109/AIMS.2015.44

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents preliminary investigations into quantification of curvature uncertainties in executing piecewise-continuous-curvature curves (PCC-Curves). The PCC-Curves are widely used in path planning & trajectory shaping in robotics, CAD, image processing. Dubins curve is one of such curves used in path planning. This paper investigates the difference between reference and actual velocities and their influence in curvature and in turn in final trajectories. The curvature uncertainties are measured using the uncertainties in velocity-pair. A path planning experiment using Dubins paths is conducted to quantify the difference between reference and actual velocities and curvature uncertainties. The results show the error in velocities and their distribution, and uncertainties in curvature.

引用

页码：224 / 228

页数：5

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