Greyhound racing ideal trajectory path generation for straight to bend based on jerk rate minimization

Hossain, MI; Eager, D; Walker, P

Greyhound racing ideal trajectory path generation for straight to bend based on jerk rate minimization

Hossain, MI Eager, D

Walker, P

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Publisher:: Springer Science and Business Media LLC
Publication Type:: Journal Article
Citation:: Scientific Reports, 2020, 10, (1), pp. 7088
Issue Date:: 2020-04-27

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Field	Value	Language
dc.contributor.author	Hossain, MI
dc.contributor.author	Eager, D https://orcid.org/0000-0003-1926-7867
dc.contributor.author	Walker, P https://orcid.org/0000-0003-3988-3966
dc.date.accessioned	2021-01-12T06:25:51Z
dc.date.available	2020-04-02
dc.date.available	2021-01-12T06:25:51Z
dc.date.issued	2020-04-27
dc.identifier.citation	Scientific Reports, 2020, 10, (1), pp. 7088
dc.identifier.issn	2045-2322
dc.identifier.issn	2045-2322
dc.identifier.uri	http://hdl.handle.net/10453/145346
dc.description.abstract	This paper presents methods for modelling and designing an ideal path trajectory between straight and bend track path segments for racing greyhounds. To do this, we numerically generate clothoid and algebraic curve segments for racing quadrupeds using a sequential vector transformation method as well as using a helper equation for approaching ideal clothoid segments that would respect greyhound kinematic parameters and boundary conditions of the track. Further, we look into the limitations of using a clothoid curve for racing dog track path design and propose a smooth composite curve for track transition design which roughly maintains G3 curvature continuity for smooth jerk to overcome limitations of a clothoid transition. Finally, we show results from race data modelling and past injury data, which provide a strong indication of clothoid curve segments improving the dynamics and safety of racing greyhounds while reducing injuries.
dc.format	Electronic
dc.language	en
dc.publisher	Springer Science and Business Media LLC
dc.relation	Greyhound Racing NSW
dc.relation.ispartof	Scientific Reports
dc.relation.isbasedon	10.1038/s41598-020-63678-1
dc.rights	This is a post-peer-review, pre-copyedit version of an article published in Scientific Reports. The final authenticated version is available online at: https://dx.doi.org/10.1038/s41598-020-63678-1.	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.subject.mesh	Animals
dc.subject.mesh	Dogs
dc.subject.mesh	Running
dc.subject.mesh	Models, Biological
dc.subject.mesh	Animals
dc.subject.mesh	Dogs
dc.subject.mesh	Models, Biological
dc.subject.mesh	Running
dc.title	Greyhound racing ideal trajectory path generation for straight to bend based on jerk rate minimization
dc.type	Journal Article
utslib.citation.volume	10
utslib.location.activity	Australia
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/e-Press
utslib.copyright.status	open_access	*
pubs.consider-herdc	true
dc.date.updated	2021-01-12T06:25:38Z
pubs.issue	1
pubs.publication-status	Published online
pubs.volume	10
utslib.citation.issue	1

Abstract:

This paper presents methods for modelling and designing an ideal path trajectory between straight and bend track path segments for racing greyhounds. To do this, we numerically generate clothoid and algebraic curve segments for racing quadrupeds using a sequential vector transformation method as well as using a helper equation for approaching ideal clothoid segments that would respect greyhound kinematic parameters and boundary conditions of the track. Further, we look into the limitations of using a clothoid curve for racing dog track path design and propose a smooth composite curve for track transition design which roughly maintains G3 curvature continuity for smooth jerk to overcome limitations of a clothoid transition. Finally, we show results from race data modelling and past injury data, which provide a strong indication of clothoid curve segments improving the dynamics and safety of racing greyhounds while reducing injuries.

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http://hdl.handle.net/10453/145346