Circular Arc Based Obstacle Avoiding Blending Trajectory plan

Huiqiao Ren, Fujisawa Katsuki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper works on the problem of generating a trajectory which is capable to dodge potential obstacles in a blending occasion with a non-holonomic premise. To the problem, this paper offers a solution of a circular blending curve generation with given directions, lanes and obstacle. This technique reforms the two-dimensional information into one-dimensional representation. With this trait, the obstacles could be represented by the constraints generated with the technique. Then, a collision-free corridor could be formed by the constraints. The corridor generating algorithm can provide outcome at a high speed, also cater to one all multiple obstacles situation.

Original languageEnglish
Title of host publication2020 5th International Conference on Control and Robotics Engineering, ICCRE 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages15-18
Number of pages4
ISBN (Electronic)9781728167916
DOIs
Publication statusPublished - Apr 2020
Event5th International Conference on Control and Robotics Engineering, ICCRE 2020 - Osaka, Japan
Duration: Apr 24 2020Apr 26 2020

Publication series

Name2020 5th International Conference on Control and Robotics Engineering, ICCRE 2020

Conference

Conference5th International Conference on Control and Robotics Engineering, ICCRE 2020
CountryJapan
CityOsaka
Period4/24/204/26/20

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

Fingerprint Dive into the research topics of 'Circular Arc Based Obstacle Avoiding Blending Trajectory plan'. Together they form a unique fingerprint.

  • Cite this

    Ren, H., & Katsuki, F. (2020). Circular Arc Based Obstacle Avoiding Blending Trajectory plan. In 2020 5th International Conference on Control and Robotics Engineering, ICCRE 2020 (pp. 15-18). [9096450] (2020 5th International Conference on Control and Robotics Engineering, ICCRE 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCRE49379.2020.9096450