Path generation for articulated steering type vehicle using symmetrical clothoid

Weerakamhaeng Yossawee, Takashi Tsubouchi, Shigeru Sarata, Shinichi Yuta

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

18 Citations (Scopus)

Abstract

Autonomous trajectory following of a wheel loader is closely related to v-skape path planning. Given the desired initial position and orientation of the wheel loader as (X0, Y0, θ0) and the desired final position and orientation as (xtruck, ytruck, θtruck) <successful v-shape path planning can be achieved by the derivations of 2 important parameters of the clothoid curve, k (sharpness) and sm ( total distance of 1 clothoid curve ) and determinations of the summit point of v-shape path, (xe,ye) and direction, θe.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages187-192
Number of pages6
Volume1
ISBN (Print)0780376579
DOIs
Publication statusPublished - 2002
Externally publishedYes
EventIEEE International Conference on Industrial Technology, IEEE ICIT 2002 - Bangkok, Thailand
Duration: 2002 Dec 112002 Dec 14

Other

OtherIEEE International Conference on Industrial Technology, IEEE ICIT 2002
CountryThailand
CityBangkok
Period02/12/1102/12/14

Fingerprint

Loaders
Motion planning
Wheels
Trucks
Trajectories

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Yossawee, W., Tsubouchi, T., Sarata, S., & Yuta, S. (2002). Path generation for articulated steering type vehicle using symmetrical clothoid. In Proceedings of the IEEE International Conference on Industrial Technology (Vol. 1, pp. 187-192). [1189888] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2002.1189888

Path generation for articulated steering type vehicle using symmetrical clothoid. / Yossawee, Weerakamhaeng; Tsubouchi, Takashi; Sarata, Shigeru; Yuta, Shinichi.

Proceedings of the IEEE International Conference on Industrial Technology. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2002. p. 187-192 1189888.

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

Yossawee, W, Tsubouchi, T, Sarata, S & Yuta, S 2002, Path generation for articulated steering type vehicle using symmetrical clothoid. in Proceedings of the IEEE International Conference on Industrial Technology. vol. 1, 1189888, Institute of Electrical and Electronics Engineers Inc., pp. 187-192, IEEE International Conference on Industrial Technology, IEEE ICIT 2002, Bangkok, Thailand, 02/12/11. https://doi.org/10.1109/ICIT.2002.1189888
Yossawee W, Tsubouchi T, Sarata S, Yuta S. Path generation for articulated steering type vehicle using symmetrical clothoid. In Proceedings of the IEEE International Conference on Industrial Technology. Vol. 1. Institute of Electrical and Electronics Engineers Inc. 2002. p. 187-192. 1189888 https://doi.org/10.1109/ICIT.2002.1189888
Yossawee, Weerakamhaeng ; Tsubouchi, Takashi ; Sarata, Shigeru ; Yuta, Shinichi. / Path generation for articulated steering type vehicle using symmetrical clothoid. Proceedings of the IEEE International Conference on Industrial Technology. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2002. pp. 187-192
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