{"id":"https://openalex.org/W2783135029","doi":"https://doi.org/10.1109/cdc.2017.8263682","title":"Posture-to-posture trajectory planning for an autonomous car using triple clothoid segments","display_name":"Posture-to-posture trajectory planning for an autonomous car using triple clothoid segments","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2783135029","doi":"https://doi.org/10.1109/cdc.2017.8263682","mag":"2783135029"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2017.8263682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8263682","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068322401","display_name":"Gaku Takano","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136457","display_name":"Shibuya (Japan)","ror":"https://ror.org/03t1ztz45","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210136457"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gaku Takano","raw_affiliation_strings":["Department of Research and Development Group, DENSO IT Laboratory Inc., Shibuya, Shibuya-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Research and Development Group, DENSO IT Laboratory Inc., Shibuya, Shibuya-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I4210136457"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073872632","display_name":"Makoto Obayashi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136457","display_name":"Shibuya (Japan)","ror":"https://ror.org/03t1ztz45","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210136457"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Makoto Obayashi","raw_affiliation_strings":["Department of Research and Development Group, DENSO IT Laboratory Inc., Shibuya, Shibuya-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Research and Development Group, DENSO IT Laboratory Inc., Shibuya, Shibuya-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I4210136457"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022814581","display_name":"Keisuke Uto","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136457","display_name":"Shibuya (Japan)","ror":"https://ror.org/03t1ztz45","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210136457"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keisuke Uto","raw_affiliation_strings":["Department of Research and Development Group, DENSO IT Laboratory Inc., Shibuya, Shibuya-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Research and Development Group, DENSO IT Laboratory Inc., Shibuya, Shibuya-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I4210136457"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210136457"],"apc_list":null,"apc_paid":null,"fwci":0.2388,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.63435968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"299","last_page":"306"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.98089998960495,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.8067038059234619},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6613374352455139},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6607530117034912},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.6569802761077881},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6096446514129639},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.49656587839126587},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47761982679367065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46831971406936646},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4243742525577545},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2961012125015259},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29419419169425964},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2402084767818451},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21490955352783203},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17668882012367249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14009734988212585},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0925021767616272},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07501444220542908}],"concepts":[{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.8067038059234619},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6613374352455139},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6607530117034912},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.6569802761077881},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6096446514129639},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.49656587839126587},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47761982679367065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46831971406936646},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4243742525577545},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2961012125015259},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29419419169425964},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2402084767818451},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21490955352783203},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17668882012367249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14009734988212585},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0925021767616272},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07501444220542908},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2017.8263682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8263682","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1500269607","https://openalex.org/W1985879428","https://openalex.org/W1993450261","https://openalex.org/W2005354226","https://openalex.org/W2011766558","https://openalex.org/W2073407668","https://openalex.org/W2100548780","https://openalex.org/W2135027849","https://openalex.org/W2136445059","https://openalex.org/W2306644740","https://openalex.org/W2313274380","https://openalex.org/W2332761901","https://openalex.org/W4285719527","https://openalex.org/W6651853181"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W4281395624","https://openalex.org/W2559356576","https://openalex.org/W2046076203","https://openalex.org/W4366147135","https://openalex.org/W3201393711","https://openalex.org/W2152467909","https://openalex.org/W4318474980","https://openalex.org/W2965135507","https://openalex.org/W1987205927"],"abstract_inverted_index":{"We":[0,148,179,202],"consider":[1,89],"a":[2,10,19,51,77,94,163,181,196,205],"steering":[3,43,91],"plan":[4,44,92,96],"for":[5,152,199],"an":[6,212],"autonomous":[7],"car":[8,20,64],"as":[9,47,76,93,160],"function":[11],"of":[12,18,23,41,62,81,112,122,144,146,162],"path":[13],"length.":[14],"The":[15],"initial":[16],"state":[17,40,78],"is":[21,45,141],"composed":[22],"its":[24,31],"position,":[25,84],"direction,":[26,85],"and":[27,65,86,109,127,138,155,194],"curvature":[28,66,114,137,154],"corresponding":[29,67],"to":[30,68,101,117,136,174],"front-wheel":[32],"direction.":[33],"In":[34,105],"the":[35,38,42,56,60,63,69,82,98,102,107,118,123,142,176],"case":[36],"that":[37,79,185],"final":[39],"taken":[46],"one":[48],"point":[49],"on":[50,211],"curved":[52,70],"road,":[53],"not":[54,171],"only":[55],"position":[57],"but":[58],"also":[59],"direction":[61],"road":[71],"are":[72,133,157,170,192],"specified.":[73],"Defining":[74],"posture":[75,100],"consists":[80],"car's":[83],"curvature,":[87],"we":[88],"this":[90,200],"trajectory":[95,182],"from":[97],"start":[99],"end":[103,177],"posture.":[104,178],"cars,":[106],"upper":[108],"lower":[110],"limits":[111],"allowable":[113],"exist":[115],"due":[116],"minimum":[119],"turning":[120],"radius":[121],"cars.":[124],"Lateral":[125],"acceleration":[126],"jerk,":[128],"which":[129,140,153],"affect":[130],"ride":[131],"quality,":[132],"respectively":[134],"proportional":[135],"sharpness,":[139],"rate":[143],"change":[145],"curvature.":[147],"chose":[149],"clothoid":[150,168,188],"segments,":[151],"sharpness":[156],"easily":[158],"adjusted,":[159],"components":[161],"trajectory.":[164],"Single":[165],"or":[166],"double":[167],"segments":[169,189],"flexible":[172],"enough":[173],"match":[175],"propose":[180],"planning":[183],"method":[184,209],"uses":[186],"triple":[187],"whose":[190],"lengths":[191],"variable":[193],"introduce":[195],"four-parameter":[197],"model":[198],"method.":[201],"moreover":[203],"show":[204],"concrete":[206],"numerical":[207],"solution":[208],"based":[210],"optimization":[213],"problem":[214],"framework.":[215]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}