Path generation for articulated steering type vehicle using symmetrical clothoid

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

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

19 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 publicationIEEE ICIT 2002 - 2002 IEEE International Conference on Industrial Technology
Subtitle of host publication"Productivity Reincarnation Through Robotics and Automation"
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages187-192
Number of pages6
ISBN (Electronic)0780376579
DOIs
Publication statusPublished - 2002 Jan 1
EventIEEE International Conference on Industrial Technology, IEEE ICIT 2002 - Bangkok, Thailand
Duration: 2002 Dec 112002 Dec 14

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology
Volume1

Other

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

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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    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