Modified turn algorithm for motion planning based on clothoid curve

Y. H. Kim, J. B. Park, W. S. Son, T. S. Yoon

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)1574-1576
Number of pages3
JournalElectronics Letters
Issue number24
Publication statusPublished - 2017 Nov 23

Bibliographical note

Publisher Copyright:
© 2017 The Institution of Engineering and Technology.

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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