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Path planning method for mobile robots

  • US 5,109,340 A
  • Filed: 06/19/1990
  • Issued: 04/28/1992
  • Est. Priority Date: 06/22/1989
  • Status: Expired due to Fees
First Claim
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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:

  • 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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