An experimental investigation into curvature uncertainties in executing piecewise continuous dubins curves in path planning

Madhavan Shanmugavel, Sampath Kumar Veera Ragavan, Hui Jean Quek, R. U. Gobithaasan, Abd Rahni Mt Piah

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    Abstract

    This paper presents preliminary investigationsinto quantification of curvature uncertainties in executing piecewise-continuous-curvature curves (PCC-Curves). ThePCC-Curves are widely used in path planning & trajectoryshaping in robotics, CAD, image processing. Dubins curve is one of such curves used in path planning. This paper investigates the difference between reference and actual velocities and their influence in curvature and in turn in final trajectories. The curvature uncertainties are measured using the uncertainties in velocity-pair. A path planning experiment using Dubins paths is conducted to quantify the difference between reference and actual velocities and curvature uncertainties. The results show the error in velocities and their distribution, and uncertainties in curvature.

    Original languageEnglish
    Title of host publicationProceedings - AIMS 2015, 3rd International Conference on Artificial Intelligence, Modelling and Simulation
    EditorsMohd Hanafi Ahmad Hijazi, Ismail Saad, David Al-Dabass, Nurmin Bolong
    PublisherIEEE, Institute of Electrical and Electronics Engineers
    Pages224-228
    Number of pages5
    ISBN (Electronic)9781467386753
    DOIs
    Publication statusPublished - 2016
    EventInternational Conference on Artificial Intelligence, Modelling and Simulation 2015 - Kota Kinabalu, Sabah, Malaysia
    Duration: 2 Dec 20154 Dec 2015
    Conference number: 3rd
    https://ieeexplore.ieee.org/xpl/conhome/7602796/proceeding (Proceedings)

    Conference

    ConferenceInternational Conference on Artificial Intelligence, Modelling and Simulation 2015
    Abbreviated titleAIMS 2015
    CountryMalaysia
    CityKota Kinabalu, Sabah
    Period2/12/154/12/15
    Internet address

    Keywords

    • curvature uncertainties
    • motion planning
    • path planning
    • uncertainties
    • velocity pair

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