Modified turn algorithm for motion planning based on clothoid curve

Previous methods for the construction of a continuous-curvature path have attempted to minimise the path length. A modified motion planning algorithm for a mobile robot that reduces not only the path length, but also the curvature change along the path is presented. Given two points in the plane, the proposed algorithm generates a closed-form solution for the position of a waypoint to connect two clothoid sets. As this method alleviates sudden curvature changes and side-slip by the robot, it improves the overall driving performance. Further, as the curvature change of the generated path becomes smaller, the centrifugal force and accumulated force on the robot also become smaller along the path. Thus, the proposed algorithm is well suited to service robots such as the intelligent wheelchairs used by elderly and disabled people. Simulation results demonstrate the superior performance of the proposed algorithm over the existing generic turn algorithm.