Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications (CROSBI ID 195478)
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Podaci o odgovornosti
Brezak, Mišel ; Petrović, Ivan
engleski
Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications
We present a method for real-time computation of clothoid coordinates that guarantees bounded approximation error over a wide range of clothoid parameters provided that clothoid’s orientation change and length are bounded. It is shown that coordinates of clothoid with any parameters can be computed from those of a single clothoid (with fixed parameters), using appropriate geometrical transformations. A comprehensive analysis is given on how to determine a required set of clothoids and, based on this, how to sample a clothoid in a lookup table in order to achieve required approximation precision. The algorithm is computationally very efficient and therefore suitable for real-time path planning, as well as for other applications that benefit from fast clothoid computation.
clothoid approximation; Fresnel integrals; path planning; motion control
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Podaci o izdanju
Povezanost rada
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti