The Application of Continuous-Curvature Curve Algorithm (CCCA) in Path Planning

Abstract:

The mobile robot's traveling path is generally made up of line and curve segments, so moving process often requires frequent stops to change the wheel steering angle to alter the direction of motion, which is lack of flexibility. In this paper, the use of the continuous-curvature curve algorithm (CCCA) solves the mutant problem of the mobile robot steering angle at turns. It can connect two line segments path so that the mobile robot achieves continuous deflection in swerve process, and it also can achieve a smooth shift within the steering angle 80^o.

• Periodical: Applied Mechanics and Materials (Volumes 433-435)
• Pages: 130-133
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.433-435.130
• Online since: October 2013
• Authors: Hua Meng, Wei Zhang, Wen Tao Jiang
• Keywords: Continuous-Curvature Curve Algorithm, Double Laser Localization, Mobile Robot, Path Planning, Path Tracking

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