Path planning method for mobile robots
First Claim
1. A method of planning a path for a mobile robot to travel from a first posture to a second posture, comprising the steps of:
- specifying the path in the form of at least one cubic spiral which has curvature expressed by a quadratic function of distance measured along the curve, and has zero curvature at each end thereof; and
controlling movement of the mobile robot along the path as defined by said cubic spiral.
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Accused Products
Abstract
A method of planning paths for autonomous carrier vehicles, such as a mobile robots, capable of planning curved paths consisting of cubic spirals smoother than those planned by conventional path planning methods. The path planned by the method of the invention is defined by one or two of cubic spirals with curvature expressed by a quadratic function of distance measured along the cubic spiral with zero curvatures at its opposite ends. The path is designed so that curvatures at the junctions are zero and the integral of the square of the derivative of curvature function between the opposite ends of the path is minimized. The mobile robot is able to travel very smoothly across the junctions when the integral of the square of the derivative of curvature is minimized.
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Citations
4 Claims
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1. A method of planning a path for a mobile robot to travel from a first posture to a second posture, comprising the steps of:
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specifying the path in the form of at least one cubic spiral which has curvature expressed by a quadratic function of distance measured along the curve, and has zero curvature at each end thereof; and controlling movement of the mobile robot along the path as defined by said cubic spiral. - View Dependent Claims (2, 3, 4)
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Specification