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ITC: Infused Tangential Curves for Smooth 2D and 3D Navigation of Mobile Robots
https://kitami-it.repo.nii.ac.jp/records/2000433
https://kitami-it.repo.nii.ac.jp/records/20004330d895de0-43a8-4ddb-8945-36d22254ac67
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
sensors-19-04384-v2(2).pdf (16.8 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||||||||||||
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| 公開日 | 2023-04-24 | |||||||||||||||
| タイトル | ||||||||||||||||
| タイトル | ITC: Infused Tangential Curves for Smooth 2D and 3D Navigation of Mobile Robots | |||||||||||||||
| 言語 | en | |||||||||||||||
| 言語 | ||||||||||||||||
| 言語 | eng | |||||||||||||||
| 資源タイプ | ||||||||||||||||
| 資源 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||||
| タイプ | journal article | |||||||||||||||
| アクセス権 | ||||||||||||||||
| アクセス権 | open access | |||||||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||||||
| 著者 |
Abhijeet Ravankar
× Abhijeet Ravankar
× Ankit A. Ravankar
× Arpit Rawankar
× Yohei Hoshino
× Yukinori Kobayashi
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| 抄録 | ||||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||||
| 内容記述 | Navigation is an indispensable component of ground and aerial mobile robots. Although there is a plethora of path planning algorithms, most of them generate paths that are not smooth and have angular turns. In many cases, it is not feasible for the robots to execute these sharp turns, and a smooth trajectory is desired. We present ‘ITC: Infused Tangential Curves’ which can generate smooth trajectories for mobile robots. The main characteristics of the proposed ITC algorithm are: (1) The curves are tangential to the path, thus maintaining G1 continuity, (2) The curves are infused in the original global path to smooth out the turns, (3) The straight segments of the global path are kept straight and only the sharp turns are smoothed, (4) Safety is embedded in the ITC trajectories and robots are guaranteed to maintain a safe distance from the obstacles, (5) The curvature of ITC curves can easily be controlled and smooth trajectories can be generated in real-time, (6) The ITC algorithm smooths the global path on a part-by-part basis thus local smoothing at one point does not affect the global path. We compare the proposed ITC algorithm with traditional interpolation based trajectory smoothing algorithms. Results show that, in case of mobile navigation in narrow corridors, ITC paths maintain a safe distance from both walls, and are easy to generate in real-time. We test the algorithm in complex scenarios to generate curves of different curvatures, while maintaining different safety thresholds from obstacles in vicinity. We mathematically discuss smooth trajectory generation for both 2D navigation of ground robots, and 3D navigation of aerial robots. We also test the algorithm in real environments with actual robots in a complex scenario of multi-robot collision avoidance. Results show that the ITC algorithm can be generated quickly and is suitable for real-world scenarios of collision avoidance in narrow corridors. | |||||||||||||||
| 言語 | en | |||||||||||||||
| 書誌情報 |
en : Sensors 巻 19, 号 20, p. 4384 |
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| DOI | ||||||||||||||||
| 識別子タイプ | DOI | |||||||||||||||
| 関連識別子 | https://doi.org/10.3390/s19204384 | |||||||||||||||
| 権利 | ||||||||||||||||
| 言語 | en | |||||||||||||||
| 権利情報 | c2019 by the authors | |||||||||||||||
| 出版者 | ||||||||||||||||
| 出版者 | MDPI | |||||||||||||||
| 言語 | en | |||||||||||||||
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| 言語 | en | |||||||||||||||
| 値 | publisher | |||||||||||||||
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| 出版タイプ | VoR | |||||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||||
