Computing clothoid segments for trajectory generation

Authors:
Doran K. Wilde
Affiliations:
Faculty of the Electrical and Computer Engineering Department at Brigham Young University, Provo, Utah
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

A new, simple, and fast method to compute the sharpness and curvature of a clothoid segment of a continuous curvature path is presented. When generating continuous curvature paths, clothoid segments are needed to connect straight segments to perfect arc segments. This algorithm is part of a new trajectory generator and motion planner that generates smooth, natural, drivable paths, using a minimal amount of steering to reach the desired ending position similar to the way a human would drive.