Smooth path and velocity planning under 3D path constraints for car-like vehicles
Existing path and velocity planning methods for car-like vehicles, the paths of which are subject to constraints on the derivative of the curvature in the horizontal plane, do not accurately express the relationships among position, velocity and acceleration in 3D space. Moreover, velocity planning...
Saved in:
| Published in | Robotics and autonomous systems Vol. 107; pp. 87 - 99 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier B.V
01.09.2018
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 0921-8890 1872-793X |
| DOI | 10.1016/j.robot.2018.05.013 |
Cover
| Abstract | Existing path and velocity planning methods for car-like vehicles, the paths of which are subject to constraints on the derivative of the curvature in the horizontal plane, do not accurately express the relationships among position, velocity and acceleration in 3D space. Moreover, velocity planning algorithms are efficient only when the curvature and derivative of the curvature have the same velocity demand. As efficiency and comfort are two key issues in promoting planning algorithms, in this paper, the vehicle is allowed to know the nearly shortest-length path and to set a continuous velocity and acceleration profile to track the trajectory reference while taking into account bounds on acceleration (including lateral acceleration) and jerk that are consistent with comfort. First, to construct a nearly shortest path, the 3D path surface is mapped onto the horizontal, profile and frontal planes, and a 2D path smoothing method is applied to solve the 3D path smoothing problem. This method has been used in highway design, but the theoretical understanding of its performance remains limited. This limitation is addressed from the viewpoint of 3D path smoothing in this paper. In addition, the jerk, acceleration, velocity, steering angle and steering angular acceleration profile are merged into a trajectory tracking task to provide a new velocity planning method to find the time-optimal path. Finally, the capabilities of the path and velocity planning methods within general planning schemes are also demonstrated.
•A path-smoothing model was described as the vehicle moves under 3D path constraints.•A 3D path-smoothing method similar to the road design method was constructed.•A velocity profile generation model that takes into account comfort constraints was constructed.•In contrast, path planning can essentially be seen as the limit state of road design. |
|---|---|
| AbstractList | Existing path and velocity planning methods for car-like vehicles, the paths of which are subject to constraints on the derivative of the curvature in the horizontal plane, do not accurately express the relationships among position, velocity and acceleration in 3D space. Moreover, velocity planning algorithms are efficient only when the curvature and derivative of the curvature have the same velocity demand. As efficiency and comfort are two key issues in promoting planning algorithms, in this paper, the vehicle is allowed to know the nearly shortest-length path and to set a continuous velocity and acceleration profile to track the trajectory reference while taking into account bounds on acceleration (including lateral acceleration) and jerk that are consistent with comfort. First, to construct a nearly shortest path, the 3D path surface is mapped onto the horizontal, profile and frontal planes, and a 2D path smoothing method is applied to solve the 3D path smoothing problem. This method has been used in highway design, but the theoretical understanding of its performance remains limited. This limitation is addressed from the viewpoint of 3D path smoothing in this paper. In addition, the jerk, acceleration, velocity, steering angle and steering angular acceleration profile are merged into a trajectory tracking task to provide a new velocity planning method to find the time-optimal path. Finally, the capabilities of the path and velocity planning methods within general planning schemes are also demonstrated.
•A path-smoothing model was described as the vehicle moves under 3D path constraints.•A 3D path-smoothing method similar to the road design method was constructed.•A velocity profile generation model that takes into account comfort constraints was constructed.•In contrast, path planning can essentially be seen as the limit state of road design. |
| Author | Yang, Shaowei Zhang, He |
| Author_xml | – sequence: 1 givenname: He surname: Zhang fullname: Zhang, He email: zhanghe@chd.edu.cn – sequence: 2 givenname: Shaowei surname: Yang fullname: Yang, Shaowei |
| BookMark | eNqFkLtOAzEQRS0UJJLAF9DsD-wyfuzDBQUKTykSQqSgs2yvlzhs7Mg2kfL37BIqCmhmmjlXd84MTZx3BqFLDAUGXF1tiuCVTwUB3BRQFoDpCZripiZ5zenbBE2BE5w3DYczNItxAwC0rOkUvbxuvU_rbCeHIV2b7U3vtU2HbNdL56x7zz5da0JGb4832ruYgrQuxazzIdMy5L39MAO4tro38RyddrKP5uJnz9Hq_m61eMyXzw9Pi5tlrinQlHOliOKKNKrGXDddVRmmq66WuGUa2oqRljDOVUUwGMW0YSWjWHECTcdA0jnix1gdfIzBdGJoLZP1bmzXCwxiVCM24luNGNUIKMWgZmDpL3YX7FaGwz_U9ZEyw1d7a4KI2hqnTWuD0Um03v7JfwGsqYHq |
| CitedBy_id | crossref_primary_10_3390_sym14091843 crossref_primary_10_3390_s23041982 crossref_primary_10_1177_0954407020947515 crossref_primary_10_1016_j_aap_2022_106566 crossref_primary_10_1007_s11465_020_0626_y crossref_primary_10_1016_j_robot_2019_103392 crossref_primary_10_1016_j_eswa_2023_120942 crossref_primary_10_21595_jme_2019_20875 crossref_primary_10_1177_0954407020982712 crossref_primary_10_1177_09544062221085886 crossref_primary_10_21869_2223_1560_2020_24_4_107_125 crossref_primary_10_1016_j_advengsoft_2019_03_007 crossref_primary_10_3390_app12115719 |
| Cites_doi | 10.1080/00423110701728236 10.1109/TASE.2009.2023206 10.1145/1389095.1389386 10.1109/ICCA.2009.5410339 10.1109/IROS.2008.4650637 10.2307/2372560 10.5772/60718 10.1109/TCST.2004.839555 10.1109/IROS.2007.4398973 10.1016/S0191-2615(01)00047-9 10.1109/TRO.2010.2042990 10.1109/IROS.1989.637934 10.1109/ITSC.2006.1706786 10.1109/TVT.2014.2373434 10.1109/TCST.2009.2014359 10.1109/AMC.2002.1026947 10.3182/20050703-6-CZ-1902.01278 10.1016/j.robot.2003.09.007 10.1109/70.781973 10.2478/v10006-009-0042-2 10.1109/RoMoCo.2017.8003907 10.1109/TRO.2004.833789 10.1109/IROS.1989.637937 10.1109/TCST.2014.2325904 10.1109/6979.994793 10.1016/j.robot.2011.11.001 10.1109/IROS.2008.4650608 |
| ContentType | Journal Article |
| Copyright | 2018 Elsevier B.V. |
| Copyright_xml | – notice: 2018 Elsevier B.V. |
| DBID | AAYXX CITATION |
| DOI | 10.1016/j.robot.2018.05.013 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1872-793X |
| EndPage | 99 |
| ExternalDocumentID | 10_1016_j_robot_2018_05_013 S0921889018300502 |
| GroupedDBID | --K --M -~X .~1 0R~ 123 1B1 1~. 1~5 29P 4.4 457 4G. 5VS 7-5 71M 8P~ 9JN AABNK AACTN AAEDT AAEDW AAIAV AAIKJ AAKOC AALRI AAOAW AAQFI AAQXK AAXUO AAYFN ABBOA ABFNM ABFRF ABIVO ABJNI ABMAC ABXDB ABYKQ ACDAQ ACGFO ACGFS ACNNM ACRLP ACZNC ADBBV ADEZE ADJOM ADMUD ADTZH AEBSH AECPX AEFWE AEKER AENEX AFFNX AFKWA AFTJW AGHFR AGUBO AGYEJ AHHHB AHJVU AHPGS AHZHX AIALX AIEXJ AIKHN AITUG AJBFU AJOXV ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ AOUOD ASPBG AVWKF AXJTR AZFZN BJAXD BKOJK BLXMC CS3 DU5 EBS EFJIC EFLBG EJD EO8 EO9 EP2 EP3 F5P FDB FEDTE FGOYB FIRID FNPLU FYGXN G-2 G-Q GBLVA GBOLZ HLZ HVGLF HZ~ H~9 IHE J1W JJJVA KOM LG9 LY7 M41 MO0 N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. Q38 R2- RIG ROL RPZ RXW SBC SCC SDF SDG SDP SES SET SEW SPC SPCBC SST SSV SSZ T5K TAE UNMZH WUQ XPP ~G- AATTM AAXKI AAYWO AAYXX ABWVN ACRPL ACVFH ADCNI ADNMO AEIPS AEUPX AFJKZ AFPUW AFXIZ AGCQF AGQPQ AGRNS AIGII AIIUN AKBMS AKRWK AKYEP ANKPU APXCP BNPGV CITATION SSH |
| ID | FETCH-LOGICAL-c303t-9bb2b9b28b719c8f66e4c6f7a1d4c0d642d2499b6210eb4ce45431b9208f40a3 |
| IEDL.DBID | AIKHN |
| ISSN | 0921-8890 |
| IngestDate | Thu Apr 24 23:07:50 EDT 2025 Thu Jul 10 10:09:39 EDT 2025 Fri Feb 23 02:47:31 EST 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Keywords | 3D space Highway design Velocity planning Path planning Car-like vehicle |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c303t-9bb2b9b28b719c8f66e4c6f7a1d4c0d642d2499b6210eb4ce45431b9208f40a3 |
| PageCount | 13 |
| ParticipantIDs | crossref_citationtrail_10_1016_j_robot_2018_05_013 crossref_primary_10_1016_j_robot_2018_05_013 elsevier_sciencedirect_doi_10_1016_j_robot_2018_05_013 |
| PublicationCentury | 2000 |
| PublicationDate | September 2018 2018-09-00 |
| PublicationDateYYYYMMDD | 2018-09-01 |
| PublicationDate_xml | – month: 09 year: 2018 text: September 2018 |
| PublicationDecade | 2010 |
| PublicationTitle | Robotics and autonomous systems |
| PublicationYear | 2018 |
| Publisher | Elsevier B.V |
| Publisher_xml | – name: Elsevier B.V |
| References | Manturov (b46) 2006 Villagra, Mounier (b23) 2005; 38 Belkhouche, Bendjilali (b35) 2011; 20 Anderson (b38) 2001 Sussmann (b15) 1997; vol. 2633 Vendittelli, Laumond, Nissoux (b21) 1999; 15 S. Liu, An on-line reference-trajectory generator for smooth motion of impulse-controlled industrial manipulators, in: International Workshop on Advanced Motion Control, 2002, pp. 365-370. Lepetič, Klančar, Škrjanc, Matko, Potočnik (b39) 2003; 45 Boltyanskii, V (b13) 1962 Cartan (b52) 2001 J.A. Bonneson, S. Geedipally, M.P. Pratt, D. Lord, Safety Prediction Methodology and Analysis Tool for Freeways and Interchanges. D. Pazderski, K. Kozłowski, Motion control of a car-like vehicle with front driving wheels using an approximate decoupling based on the transverse function approach, in: 11th International Workshop on Robot Motion and Control, RoMoCo, Wąsowo, 2017, pp. 154-159. J. Villagra, D. Herrero-Pérez, M. Abderrahim, Robust flatness-based control of an AGV under varying load and friction conditions, in: IEEE International Conference on Control and Automation, 2009, pp. 1621-1628. Bianco, Gerelli (b24) 2010; 7 A. Takahashi, T. Hongo, Y. Ninomiya, G. Sugimoto, Local path planning and motion control for AGV in positioning, in: IEEE/RSJ International Workshop on Intelligent Robots and Systems ’89. the Autonomous Mobile Robots and ITS Applications. IROS ’89. Proceedings, 1989, pp. 392-397. R. Solea, U. Nunes, Trajectory planning with velocity planner for fully-automated passenger vehicles, in: Intelligent Transportation Systems Conference, 2006. ITSC ’06. IEEE, 2006, pp. 474-480. Villagra, Milanés, Pérez, Godoy (b16) 2012; 60 Berkovitz (b12) 1974 Gawron, Michałek (b5) 2017 Wang, Wang, Tan, Zhou, Wei (b37) 2015; 23 D. Halliday, Fundamentals of Physics, tenth ed. Oosten (b8) 2007; 45 I. Hasircioglu, H.R. Topcuoglu, M. Ermis, 3-D path planning for the navigation of unmanned aerial vehicles by using evolutionary algorithms, in: Conference on Genetic and Evolutionary Computation, 2008, pp. 1499-1506. Toponogov (b51) 2006; 2 F. Gravot, Y. Hirano, S. Yoshizawa, Generation of “optimal” speed profile for motion planning, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, pp. 4071-4076. Cartan, Goldberg (b11) 2015 Jong, Schonfeld (b44) 2003; 37 M. Michałek, K. Kozłowski, Motion planning and feedback control for a unicycle in a way point following task: The VFO approach, Versita, 2009. Farin (b47) 2002 Yang, Sukkarieh (b25) 2010; 26 Chang, Huh (b30) 2015; 12 Carmo (b10) 1976; 2 K. Komoriya, K. Tanie, Trajectory design and control of a wheel-type mobile robot using B-spline curve, in: IEEE/RSJ International Workshop on Intelligent Robots and Systems ’89. the Autonomous Mobile Robots and ITS Applications. IROS ’89. Proceedings, 2010, pp. 398-405. Ambrosino, Ariola, Ciniglio, Corraro, Lellis, Pironti (b36) 2009; 17 Y.J. Kanayama, B.I. Hartman, Smooth local-path planning for autonomous vehicles, 16 (1989) 263-284. Labakhua, Nunes, Rui, Leite (b50) 2008 AIAA, 3D path planning for multiple UAVs using pythagorean hodograph curves, in: AIAA Guidance, Navigation and Control Conference and Exhibit, 2007. Scheuer, Fraichard (b49) 1998 Boissonnat, Cerezo, Leblond, Robotique, Prisme (b29) 1994 Delingette, Hebert, Ikeuchi (b27) 2002; vol. 201 Anderson, Beard, Mclain (b34) 2005; 13 Piazzi, Bianco, Bertozzi, Fascioli (b22) 2002; 3 K. Yang, S. Sukkarieh, 3D smooth path planning for a UAV in cluttered natural environments, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 794-800. X. Broquere, D. Sidobre, I. Herrera-Aguilar, Soft motion trajectory planner for service manipulator robot, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 2808-2813. Jha, Schonfeld, Jong, Kim (b45) 2006 Liu, Wang, An (b2) 2018 R. Liscano, D. Green, Design and implementation of A trajectory generator for an indoor mobile robot, in: IEEE/RSJ International Workshop on Intelligent Robots and Systems ’89. the Autonomous Mobile Robots and ITS Applications. IROS ’89. Proceedings, 1989, pp. 380-385. Gray (b9) 2006; 26 Fraichard, Scheuer (b28) 2004; 20 Nelson (b20) 1989; vol. 1263 Dubins (b14) 1957; 79 Rath, Veluvolu, Defoort (b7) 2015; 64 10.1016/j.robot.2018.05.013_b17 Cartan (10.1016/j.robot.2018.05.013_b11) 2015 10.1016/j.robot.2018.05.013_b19 10.1016/j.robot.2018.05.013_b18 Manturov (10.1016/j.robot.2018.05.013_b46) 2006 Anderson (10.1016/j.robot.2018.05.013_b34) 2005; 13 Villagra (10.1016/j.robot.2018.05.013_b23) 2005; 38 Chang (10.1016/j.robot.2018.05.013_b30) 2015; 12 Rath (10.1016/j.robot.2018.05.013_b7) 2015; 64 Oosten (10.1016/j.robot.2018.05.013_b8) 2007; 45 Anderson (10.1016/j.robot.2018.05.013_b38) 2001 Jong (10.1016/j.robot.2018.05.013_b44) 2003; 37 Toponogov (10.1016/j.robot.2018.05.013_b51) 2006; 2 10.1016/j.robot.2018.05.013_b48 Gawron (10.1016/j.robot.2018.05.013_b5) 2017 10.1016/j.robot.2018.05.013_b43 Carmo (10.1016/j.robot.2018.05.013_b10) 1976; 2 Wang (10.1016/j.robot.2018.05.013_b37) 2015; 23 Piazzi (10.1016/j.robot.2018.05.013_b22) 2002; 3 10.1016/j.robot.2018.05.013_b42 10.1016/j.robot.2018.05.013_b41 10.1016/j.robot.2018.05.013_b40 Bianco (10.1016/j.robot.2018.05.013_b24) 2010; 7 Farin (10.1016/j.robot.2018.05.013_b47) 2002 Nelson (10.1016/j.robot.2018.05.013_b20) 1989; vol. 1263 Dubins (10.1016/j.robot.2018.05.013_b14) 1957; 79 Delingette (10.1016/j.robot.2018.05.013_b27) 2002; vol. 201 Jha (10.1016/j.robot.2018.05.013_b45) 2006 10.1016/j.robot.2018.05.013_b33 10.1016/j.robot.2018.05.013_b32 Labakhua (10.1016/j.robot.2018.05.013_b50) 2008 Villagra (10.1016/j.robot.2018.05.013_b16) 2012; 60 Cartan (10.1016/j.robot.2018.05.013_b52) 2001 Berkovitz (10.1016/j.robot.2018.05.013_b12) 1974 10.1016/j.robot.2018.05.013_b31 Fraichard (10.1016/j.robot.2018.05.013_b28) 2004; 20 10.1016/j.robot.2018.05.013_b26 Lepetič (10.1016/j.robot.2018.05.013_b39) 2003; 45 Ambrosino (10.1016/j.robot.2018.05.013_b36) 2009; 17 Gray (10.1016/j.robot.2018.05.013_b9) 2006; 26 Boltyanskii (10.1016/j.robot.2018.05.013_b13) 1962 Vendittelli (10.1016/j.robot.2018.05.013_b21) 1999; 15 Liu (10.1016/j.robot.2018.05.013_b2) 2018 Boissonnat (10.1016/j.robot.2018.05.013_b29) 1994 Scheuer (10.1016/j.robot.2018.05.013_b49) 1998 Sussmann (10.1016/j.robot.2018.05.013_b15) 1997; vol. 2633 10.1016/j.robot.2018.05.013_b6 Belkhouche (10.1016/j.robot.2018.05.013_b35) 2011; 20 10.1016/j.robot.2018.05.013_b1 10.1016/j.robot.2018.05.013_b4 Yang (10.1016/j.robot.2018.05.013_b25) 2010; 26 10.1016/j.robot.2018.05.013_b3 |
| References_xml | – start-page: 1 year: 2018 end-page: 13 ident: b2 article-title: Life-cycle CO publication-title: Int. J. Sustain. Transp. – reference: S. Liu, An on-line reference-trajectory generator for smooth motion of impulse-controlled industrial manipulators, in: International Workshop on Advanced Motion Control, 2002, pp. 365-370. – year: 1962 ident: b13 article-title: The Mathematical, Theory of Optimal Processes – year: 1994 ident: b29 article-title: A note on shortest paths in the plane subject to a constraint on the derivative of the curvature publication-title: Inria – reference: K. Yang, S. Sukkarieh, 3D smooth path planning for a UAV in cluttered natural environments, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 794-800. – reference: R. Liscano, D. Green, Design and implementation of A trajectory generator for an indoor mobile robot, in: IEEE/RSJ International Workshop on Intelligent Robots and Systems ’89. the Autonomous Mobile Robots and ITS Applications. IROS ’89. Proceedings, 1989, pp. 380-385. – reference: K. Komoriya, K. Tanie, Trajectory design and control of a wheel-type mobile robot using B-spline curve, in: IEEE/RSJ International Workshop on Intelligent Robots and Systems ’89. the Autonomous Mobile Robots and ITS Applications. IROS ’89. Proceedings, 2010, pp. 398-405. – volume: 64 start-page: 4461 year: 2015 end-page: 4471 ident: b7 article-title: Simultaneous estimation of road profile and tire road friction for automotive vehicle publication-title: IEEE Trans. Veh. Technol. – reference: D. Halliday, Fundamentals of Physics, tenth ed. – volume: vol. 1263 start-page: 1260 year: 1989 end-page: 1264 ident: b20 article-title: Continuous–curvature paths for autonomous vehicles publication-title: IEEE International Conference on Robotics and Automation, 1989 Proceedings – volume: 45 start-page: 199 year: 2003 end-page: 210 ident: b39 article-title: Time optimal path planning considering acceleration limits publication-title: Robot. Auton. Syst. – year: 2006 ident: b46 article-title: Modern Differential Geometry of Curves and Surfaces with Mathematica – volume: 79 start-page: 497 year: 1957 end-page: 516 ident: b14 article-title: On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents publication-title: Amer. J. Math. – volume: 12 start-page: 76 year: 2015 ident: b30 article-title: Curvature-continuous 3D path-planning using QPMI method publication-title: Int. J. Adv. Robot. Syst. – year: 2006 ident: b45 article-title: Intelligent Road Design – reference: R. Solea, U. Nunes, Trajectory planning with velocity planner for fully-automated passenger vehicles, in: Intelligent Transportation Systems Conference, 2006. ITSC ’06. IEEE, 2006, pp. 474-480. – reference: F. Gravot, Y. Hirano, S. Yoshizawa, Generation of “optimal” speed profile for motion planning, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, pp. 4071-4076. – volume: 2 start-page: 273 year: 2006 end-page: 275 ident: b51 article-title: Differential geometry of curves and surfaces publication-title: Comput. Aided Eng. Des. – volume: 15 start-page: 678 year: 1999 end-page: 691 ident: b21 article-title: Obstacle distance for car-like robots publication-title: IEEE Trans. Robot. Autom. – volume: vol. 201 start-page: 206 year: 2002 end-page: 211 ident: b27 article-title: Trajectory generation with curvature constraint based on energy minimization publication-title: IEEE/RSJ International Workshop on Intelligent Robots and Systems ’91. ’intelligence for Mechanical Systems, Proceedings IROS – volume: 23 start-page: 730 year: 2015 end-page: 736 ident: b37 article-title: Real-time dynamic Dubins-Helix method for 3-D trajectory smoothing publication-title: IEEE Trans. Control Syst. Technol. – volume: 20 start-page: 1025 year: 2004 end-page: 1035 ident: b28 article-title: From Reeds and Shepp’s to continuous-curvature paths publication-title: IEEE Trans. Robot. – year: 1998 ident: b49 article-title: Planning Sub-Optimal and Continuous-Curvature Paths for Car-Like Robots – year: 2001 ident: b52 article-title: Riemannian Geometry in an Orthogonal Frame – volume: 37 start-page: 107 year: 2003 end-page: 128 ident: b44 article-title: An evolutionary model for simultaneously optimizing three-dimensional highway alignments publication-title: Transp. Res. B – volume: 17 start-page: 980 year: 2009 end-page: 988 ident: b36 article-title: Path generation and tracking in 3-D for UAVs publication-title: IEEE Trans. Control Syst. Technol. – reference: I. Hasircioglu, H.R. Topcuoglu, M. Ermis, 3-D path planning for the navigation of unmanned aerial vehicles by using evolutionary algorithms, in: Conference on Genetic and Evolutionary Computation, 2008, pp. 1499-1506. – volume: 45 start-page: 191 year: 2007 end-page: 198 ident: b8 article-title: TMPT tire modeling in ADAMS publication-title: Veh. Syst. Dyn. – volume: 20 start-page: 249 year: 2011 end-page: 256 ident: b35 article-title: Reactive path planning for 3-D autonomous vehicles publication-title: IEEE Trans. Control Syst. Technol. – volume: 7 start-page: 249 year: 2010 end-page: 256 ident: b24 article-title: Generation of paths with minimum curvature derivative with publication-title: IEEE Trans. Autom. Sci. Eng. – volume: 38 start-page: 49 year: 2005 end-page: 54 ident: b23 article-title: Obstacle–avoiding path planning for high velocity wheeled mobile robots publication-title: IFAC Proc. Vol. – start-page: 62 year: 2002 ident: b47 article-title: Curves and surfaces for CAGD: A practical guide – year: 2015 ident: b11 article-title: Riemannian Geometry in an Orthogonal Frame – volume: 2 start-page: 273 year: 1976 end-page: 275 ident: b10 article-title: Differential geometry of curves and surfaces publication-title: Comput. Aided Eng. Des. – reference: . AIAA, 3D path planning for multiple UAVs using pythagorean hodograph curves, in: AIAA Guidance, Navigation and Control Conference and Exhibit, 2007. – volume: 26 start-page: 561 year: 2010 end-page: 568 ident: b25 article-title: An analytical continuous-curvature path-smoothing algorithm publication-title: IEEE Trans. Robot. – reference: A. Takahashi, T. Hongo, Y. Ninomiya, G. Sugimoto, Local path planning and motion control for AGV in positioning, in: IEEE/RSJ International Workshop on Intelligent Robots and Systems ’89. the Autonomous Mobile Robots and ITS Applications. IROS ’89. Proceedings, 1989, pp. 392-397. – volume: 3 start-page: 27 year: 2002 end-page: 36 ident: b22 article-title: Quintic G2 -splines for the iterative steering of vision-based autonomous vehicles publication-title: IEEE Trans. Intell. Transp. Syst. – year: 1974 ident: b12 article-title: Optimal Control Theory – reference: Y.J. Kanayama, B.I. Hartman, Smooth local-path planning for autonomous vehicles, 16 (1989) 263-284. – reference: X. Broquere, D. Sidobre, I. Herrera-Aguilar, Soft motion trajectory planner for service manipulator robot, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 2808-2813. – reference: M. Michałek, K. Kozłowski, Motion planning and feedback control for a unicycle in a way point following task: The VFO approach, Versita, 2009. – reference: D. Pazderski, K. Kozłowski, Motion control of a car-like vehicle with front driving wheels using an approximate decoupling based on the transverse function approach, in: 11th International Workshop on Robot Motion and Control, RoMoCo, Wąsowo, 2017, pp. 154-159. – volume: vol. 2633 start-page: 2639 year: 1997 end-page: 2643 ident: b15 article-title: The Markov–Dubins problem with angular acceleration control publication-title: Decision and Control, 1997, Proceedings of the IEEE Conference on – reference: J. Villagra, D. Herrero-Pérez, M. Abderrahim, Robust flatness-based control of an AGV under varying load and friction conditions, in: IEEE International Conference on Control and Automation, 2009, pp. 1621-1628. – volume: 26 start-page: 203 year: 2006 end-page: 208 ident: b9 article-title: Modern differential geometry of curves and surfaces withmathematica publication-title: Amer. Math. Monthly – year: 2017 ident: b5 article-title: The VFO-driven motion planning and feedback control in polygonal worlds for a unicycle with bounded curvature of motion publication-title: J. Intell. Robot. Syst. – reference: J.A. Bonneson, S. Geedipally, M.P. Pratt, D. Lord, Safety Prediction Methodology and Analysis Tool for Freeways and Interchanges. – year: 2001 ident: b38 publication-title: Fundamentals of Aerodynamics, vol. 2 – volume: 60 start-page: 252 year: 2012 end-page: 265 ident: b16 article-title: Smooth path and speed planning for an automated public transport vehicle publication-title: Robot. Auton. Syst. – year: 2008 ident: b50 article-title: Smooth Trajectory Planning for Fully Automated Passengers Vehicles: Spline and Clothoid Based Methods and Its Simulation – volume: 13 start-page: 471 year: 2005 end-page: 477 ident: b34 article-title: Real-time dynamic trajectory smoothing for unmanned air vehicles publication-title: IEEE Trans. Control Syst. Technol. – year: 2006 ident: 10.1016/j.robot.2018.05.013_b46 – ident: 10.1016/j.robot.2018.05.013_b48 – volume: 45 start-page: 191 year: 2007 ident: 10.1016/j.robot.2018.05.013_b8 article-title: TMPT tire modeling in ADAMS publication-title: Veh. Syst. Dyn. doi: 10.1080/00423110701728236 – volume: 7 start-page: 249 year: 2010 ident: 10.1016/j.robot.2018.05.013_b24 article-title: Generation of paths with minimum curvature derivative with η3-Splines publication-title: IEEE Trans. Autom. Sci. Eng. doi: 10.1109/TASE.2009.2023206 – ident: 10.1016/j.robot.2018.05.013_b31 – year: 2008 ident: 10.1016/j.robot.2018.05.013_b50 – ident: 10.1016/j.robot.2018.05.013_b19 – ident: 10.1016/j.robot.2018.05.013_b32 doi: 10.1145/1389095.1389386 – year: 1974 ident: 10.1016/j.robot.2018.05.013_b12 – ident: 10.1016/j.robot.2018.05.013_b3 doi: 10.1109/ICCA.2009.5410339 – ident: 10.1016/j.robot.2018.05.013_b33 doi: 10.1109/IROS.2008.4650637 – volume: 79 start-page: 497 year: 1957 ident: 10.1016/j.robot.2018.05.013_b14 article-title: On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents publication-title: Amer. J. Math. doi: 10.2307/2372560 – volume: 12 start-page: 76 year: 2015 ident: 10.1016/j.robot.2018.05.013_b30 article-title: Curvature-continuous 3D path-planning using QPMI method publication-title: Int. J. Adv. Robot. Syst. doi: 10.5772/60718 – year: 1994 ident: 10.1016/j.robot.2018.05.013_b29 article-title: A note on shortest paths in the plane subject to a constraint on the derivative of the curvature – volume: 13 start-page: 471 year: 2005 ident: 10.1016/j.robot.2018.05.013_b34 article-title: Real-time dynamic trajectory smoothing for unmanned air vehicles publication-title: IEEE Trans. Control Syst. Technol. doi: 10.1109/TCST.2004.839555 – ident: 10.1016/j.robot.2018.05.013_b42 doi: 10.1109/IROS.2007.4398973 – volume: 37 start-page: 107 year: 2003 ident: 10.1016/j.robot.2018.05.013_b44 article-title: An evolutionary model for simultaneously optimizing three-dimensional highway alignments publication-title: Transp. Res. B doi: 10.1016/S0191-2615(01)00047-9 – year: 1962 ident: 10.1016/j.robot.2018.05.013_b13 – volume: 2 start-page: 273 year: 1976 ident: 10.1016/j.robot.2018.05.013_b10 article-title: Differential geometry of curves and surfaces publication-title: Comput. Aided Eng. Des. – volume: 2 start-page: 273 year: 2006 ident: 10.1016/j.robot.2018.05.013_b51 article-title: Differential geometry of curves and surfaces publication-title: Comput. Aided Eng. Des. – volume: 26 start-page: 561 year: 2010 ident: 10.1016/j.robot.2018.05.013_b25 article-title: An analytical continuous-curvature path-smoothing algorithm publication-title: IEEE Trans. Robot. doi: 10.1109/TRO.2010.2042990 – ident: 10.1016/j.robot.2018.05.013_b26 doi: 10.1109/IROS.1989.637934 – ident: 10.1016/j.robot.2018.05.013_b40 doi: 10.1109/ITSC.2006.1706786 – volume: 64 start-page: 4461 year: 2015 ident: 10.1016/j.robot.2018.05.013_b7 article-title: Simultaneous estimation of road profile and tire road friction for automotive vehicle publication-title: IEEE Trans. Veh. Technol. doi: 10.1109/TVT.2014.2373434 – volume: 17 start-page: 980 year: 2009 ident: 10.1016/j.robot.2018.05.013_b36 article-title: Path generation and tracking in 3-D for UAVs publication-title: IEEE Trans. Control Syst. Technol. doi: 10.1109/TCST.2009.2014359 – start-page: 1 year: 2018 ident: 10.1016/j.robot.2018.05.013_b2 article-title: Life-cycle CO2 emissions and influential factors for asphalt highway construction and maintenance activities in China publication-title: Int. J. Sustain. Transp. – volume: vol. 201 start-page: 206 year: 2002 ident: 10.1016/j.robot.2018.05.013_b27 article-title: Trajectory generation with curvature constraint based on energy minimization – ident: 10.1016/j.robot.2018.05.013_b41 doi: 10.1109/AMC.2002.1026947 – year: 2017 ident: 10.1016/j.robot.2018.05.013_b5 article-title: The VFO-driven motion planning and feedback control in polygonal worlds for a unicycle with bounded curvature of motion publication-title: J. Intell. Robot. Syst. – volume: 38 start-page: 49 year: 2005 ident: 10.1016/j.robot.2018.05.013_b23 article-title: Obstacle–avoiding path planning for high velocity wheeled mobile robots publication-title: IFAC Proc. Vol. doi: 10.3182/20050703-6-CZ-1902.01278 – volume: vol. 2633 start-page: 2639 year: 1997 ident: 10.1016/j.robot.2018.05.013_b15 article-title: The Markov–Dubins problem with angular acceleration control – ident: 10.1016/j.robot.2018.05.013_b17 – year: 2015 ident: 10.1016/j.robot.2018.05.013_b11 – year: 2001 ident: 10.1016/j.robot.2018.05.013_b38 – volume: 45 start-page: 199 year: 2003 ident: 10.1016/j.robot.2018.05.013_b39 article-title: Time optimal path planning considering acceleration limits publication-title: Robot. Auton. Syst. doi: 10.1016/j.robot.2003.09.007 – volume: 15 start-page: 678 year: 1999 ident: 10.1016/j.robot.2018.05.013_b21 article-title: Obstacle distance for car-like robots publication-title: IEEE Trans. Robot. Autom. doi: 10.1109/70.781973 – ident: 10.1016/j.robot.2018.05.013_b4 doi: 10.2478/v10006-009-0042-2 – ident: 10.1016/j.robot.2018.05.013_b6 doi: 10.1109/RoMoCo.2017.8003907 – volume: 20 start-page: 1025 year: 2004 ident: 10.1016/j.robot.2018.05.013_b28 article-title: From Reeds and Shepp’s to continuous-curvature paths publication-title: IEEE Trans. Robot. doi: 10.1109/TRO.2004.833789 – volume: 26 start-page: 203 year: 2006 ident: 10.1016/j.robot.2018.05.013_b9 article-title: Modern differential geometry of curves and surfaces withmathematica publication-title: Amer. Math. Monthly – ident: 10.1016/j.robot.2018.05.013_b18 doi: 10.1109/IROS.1989.637937 – volume: 23 start-page: 730 year: 2015 ident: 10.1016/j.robot.2018.05.013_b37 article-title: Real-time dynamic Dubins-Helix method for 3-D trajectory smoothing publication-title: IEEE Trans. Control Syst. Technol. doi: 10.1109/TCST.2014.2325904 – year: 1998 ident: 10.1016/j.robot.2018.05.013_b49 – volume: vol. 1263 start-page: 1260 year: 1989 ident: 10.1016/j.robot.2018.05.013_b20 article-title: Continuous–curvature paths for autonomous vehicles – ident: 10.1016/j.robot.2018.05.013_b1 – start-page: 62 year: 2002 ident: 10.1016/j.robot.2018.05.013_b47 – volume: 3 start-page: 27 year: 2002 ident: 10.1016/j.robot.2018.05.013_b22 article-title: Quintic G2 -splines for the iterative steering of vision-based autonomous vehicles publication-title: IEEE Trans. Intell. Transp. Syst. doi: 10.1109/6979.994793 – volume: 60 start-page: 252 year: 2012 ident: 10.1016/j.robot.2018.05.013_b16 article-title: Smooth path and speed planning for an automated public transport vehicle publication-title: Robot. Auton. Syst. doi: 10.1016/j.robot.2011.11.001 – year: 2006 ident: 10.1016/j.robot.2018.05.013_b45 – year: 2001 ident: 10.1016/j.robot.2018.05.013_b52 – volume: 20 start-page: 249 year: 2011 ident: 10.1016/j.robot.2018.05.013_b35 article-title: Reactive path planning for 3-D autonomous vehicles publication-title: IEEE Trans. Control Syst. Technol. – ident: 10.1016/j.robot.2018.05.013_b43 doi: 10.1109/IROS.2008.4650608 |
| SSID | ssj0003573 |
| Score | 2.2893283 |
| Snippet | Existing path and velocity planning methods for car-like vehicles, the paths of which are subject to constraints on the derivative of the curvature in the... |
| SourceID | crossref elsevier |
| SourceType | Enrichment Source Index Database Publisher |
| StartPage | 87 |
| SubjectTerms | 3D space Car-like vehicle Highway design Path planning Velocity planning |
| Title | Smooth path and velocity planning under 3D path constraints for car-like vehicles |
| URI | https://dx.doi.org/10.1016/j.robot.2018.05.013 |
| Volume | 107 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV3LSsNAFB1qu9GF-MT6KLNw6dg8JpPMslRLtVjQVuwuZB7Bak1KjFu_3Tt5lArShYsQEubCcBjuuZOcORehS2FRDaytiUO1T-CyiQCWItRzpO8pFgXKfId8GLPhM72febMG6tdnYYysssr9ZU4vsnX1pluh2V3O592JxYGeAuCzwFiuG0PJluNy5jVRq3c3Go5XCdn1yh_NMJ6YgNp8qJB5ZalIjabSDkoHT_dvglojncEe2q2qRdwrJ7SPGjo5QDtrHoKH6HHykQLa2LQWxlGisBEBSait8bLqR4TNObEMuzflGGkqQtMYIv_EULFiGWVkMX_XEPhaaOSO0HRwO-0PSdUngUggoJxwIRzBhRMI3-YyiBnTVLLYj2xFpaVgh6Fgk8UFg-2dFlRqag7AC-5YQUytyD1GzSRN9AnCXgz1CFVcRhGn1GdcQgUIPKe4sFwe8DZyamxCWXmImxkvwlos9hYWgIYG0NDyQgC0ja5WQcvSQmPzcFaDHv5aCSEk-U2Bp_8NPEPb5qlUjp2jZp596QsoNXLRQVvX33anWlDmPnp6Gf0AN4vT1w |
| linkProvider | Elsevier |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV07T8MwELaqMgAD4inK0wMjpnk4jj2iQlWgrYRapG5W7LiiUJIqhJXfzjkPKBLqwJAluZOik3Xf5-TzdwhdKIcaQG1DPGpCApdLFKAUoYGnwyBmEY_td8jBkPWe6P0kmDRQpz4LY2WVVe8ve3rRras77aqa7cVs1h45AuCJA55xa7luDSXXaOCHVtd39fmj8_CD8jczRBMbXlsPFSKvLFWpVVS6vPTv9P-GpyXI6W6jrYor4uvydXZQwyS7aHPJQXAPPY7eUqg1toOFcZTE2EqANDBrvKimEWF7SizD_k0Zoy0ftGMh8ncMfBXrKCPz2auBxOdCIbePxt3bcadHqikJRAP85EQo5SmhPK5CV2g-ZcxQzaZh5MZUOzHsL2LYYgnFYHNnFNWG2uPvSngOn1In8g9QM0kTc4hwMAU2QmOho0hQGjKhgf8BysVCOb7gooW8ujZSVw7i9o3nspaKvciioNIWVDqBhIK20OV30qI00Fgdzuqiy1_rQEKLX5V49N_Ec7TeGw_6sn83fDhGG_ZJqSE7Qc08-zCnQDpydVYsqi9hvNL_ |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Smooth+path+and+velocity+planning+under+3D+path+constraints+for+car-like+vehicles&rft.jtitle=Robotics+and+autonomous+systems&rft.au=Zhang%2C+He&rft.au=Yang%2C+Shaowei&rft.date=2018-09-01&rft.issn=0921-8890&rft.volume=107&rft.spage=87&rft.epage=99&rft_id=info:doi/10.1016%2Fj.robot.2018.05.013&rft.externalDBID=n%2Fa&rft.externalDocID=10_1016_j_robot_2018_05_013 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0921-8890&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0921-8890&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0921-8890&client=summon |