Path generation for articulated steering type vehicle using symmetrical clothoid

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

研究成果: Conference contribution

21 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIEEE ICIT 2002 - 2002 IEEE International Conference on Industrial Technology
ホスト出版物のサブタイトル"Productivity Reincarnation Through Robotics and Automation"
出版社Institute of Electrical and Electronics Engineers Inc.
ページ187-192
ページ数6
ISBN(電子版)0780376579
DOI
出版ステータスPublished - 2002
イベントIEEE International Conference on Industrial Technology, IEEE ICIT 2002 - Bangkok, Thailand
継続期間: 2002 12月 112002 12月 14

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology
1

Other

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

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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