Efficient Smoothing of Piecewise Linear Paths with Minimal Deviation


We present an anytime fast deterministic greedy method for smoothing piecewise linear paths consisting of connected linear segments by incrementally removing path points. First, points with only a small influence on path geometry are removed, i.e. aligned or nearly aligned points. Due to the removal of less important path points, the high computational and… (More)
DOI: 10.1109/IROS.2006.281795


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