Path generation for articulated steering type vehicle using symmetrical clothoid

Weerakamhaeng Yossawee; Takashi Tsubouchi; Shigeru Sarata; Shin'ichi Yuta

doi:10.1109/ICIT.2002.1189888

Path generation for articulated steering type vehicle using symmetrical clothoid

Weerakamhaeng Yossawee, Takashi Tsubouchi, Shigeru Sarata, Shin'ichi Yuta

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

21 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 language	English
Title of host publication	IEEE ICIT 2002 - 2002 IEEE International Conference on Industrial Technology
Subtitle of host publication	"Productivity Reincarnation Through Robotics and Automation"
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	187-192
Number of pages	6
ISBN (Electronic)	0780376579
DOIs	https://doi.org/10.1109/ICIT.2002.1189888
Publication status	Published - 2002
Event	IEEE International Conference on Industrial Technology, IEEE ICIT 2002 - Bangkok, Thailand Duration: 2002 Dec 11 → 2002 Dec 14

Publication series

Name	Proceedings of the IEEE International Conference on Industrial Technology
Volume	1

Other

Other	IEEE International Conference on Industrial Technology, IEEE ICIT 2002
Country/Territory	Thailand
City	Bangkok
Period	02/12/11 → 02/12/14

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/ICIT.2002.1189888

Cite this

Yossawee, W., Tsubouchi, T., Sarata, S., & Yuta, S. (2002). Path generation for articulated steering type vehicle using symmetrical clothoid. In IEEE ICIT 2002 - 2002 IEEE International Conference on Industrial Technology: "Productivity Reincarnation Through Robotics and Automation" (pp. 187-192). [1189888] (Proceedings of the IEEE International Conference on Industrial Technology; Vol. 1). 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 et al.

IEEE ICIT 2002 - 2002 IEEE International Conference on Industrial Technology: "Productivity Reincarnation Through Robotics and Automation". Institute of Electrical and Electronics Engineers Inc., 2002. p. 187-192 1189888 (Proceedings of the IEEE International Conference on Industrial Technology; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yossawee, W, Tsubouchi, T, Sarata, S & Yuta, S 2002, Path generation for articulated steering type vehicle using symmetrical clothoid. in IEEE ICIT 2002 - 2002 IEEE International Conference on Industrial Technology: "Productivity Reincarnation Through Robotics and Automation"., 1189888, Proceedings of the IEEE International Conference on Industrial Technology, vol. 1, 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 IEEE ICIT 2002 - 2002 IEEE International Conference on Industrial Technology: "Productivity Reincarnation Through Robotics and Automation". Institute of Electrical and Electronics Engineers Inc. 2002. p. 187-192. 1189888. (Proceedings of the IEEE International Conference on Industrial Technology). doi: 10.1109/ICIT.2002.1189888

Yossawee, Weerakamhaeng ; Tsubouchi, Takashi ; Sarata, Shigeru et al. / Path generation for articulated steering type vehicle using symmetrical clothoid. IEEE ICIT 2002 - 2002 IEEE International Conference on Industrial Technology: "Productivity Reincarnation Through Robotics and Automation". Institute of Electrical and Electronics Engineers Inc., 2002. pp. 187-192 (Proceedings of the IEEE International Conference on Industrial Technology).

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Path generation for articulated steering type vehicle using symmetrical clothoid

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