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Implementation of a clothoid based trajectory into the ROS framework

In order to achieve a continous lateral acceleration profile for moving objects - like robots - clothoids as a part of the pathplanning are important. This paper describes the implementation of a local planning algorithm for a partly autonomnous wheelchair with clothoids as integral part. Further the integration into the ROS framework as main aspects of the development and limitations of the algorithm are detailed. Finally, simulation results of a comparison between the developed algorithm and the default algorithm provided by the ROS framework are shown.