On Existence and Synthesis of Smooth Four Parameter Logistic Paths Inside Annular Passages

Upadhyay, S and Ratnoo, A (2018) On Existence and Synthesis of Smooth Four Parameter Logistic Paths Inside Annular Passages. In: IEEE Robotics and Automation Letters, 3 (4). pp. 4375-4382.

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Abstract

This letter considers the existence and synthesis of four parameters logistic paths inside a passage comprised of annular sectors. As the main result, we derive an analytic condition obtaining minimum number of path segments that ensure existence of the path, continuous-curvature variation, and path confinement within the passage. Case studies highlight the viability and design aspect of the proposed method.

Item Type:	Journal Article
Publication:	IEEE Robotics and Automation Letters
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to the IEEE.
Keywords:	Aerospace engineering; Collision avoidance; Logistics; Motion planning; Optimization; Planning; Robots, Case-studies; Continuous curvature; Motion and path planning; Nonholonomic motion planning; Path segments; Splines (mathematics), Robot programming
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	03 Aug 2022 06:53
Last Modified:	03 Aug 2022 06:53
URI:	https://eprints.iisc.ac.in/id/eprint/75222

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