• DOI:10.1109/IROS.2006.282635
Corpus ID: 6028486

Spline-Based Robot Navigation

@article{Magid2006SplineBasedRN,
  title={Spline-Based Robot Navigation},
  author={E. Magid and D. Keren and E. Rivlin and I. Yavneh},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2006},
  pages={2296-2301}
}

E. Magid, D. Keren, +1 author I. Yavneh

Published 2006

Engineering, Computer Science

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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cs.haifa.ac.il

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This paper offers a path planning algorithm based on splines. The sought path avoids the obstacles, and is smooth and short. Smoothing is used as an integral part of the algorithm, and not only as a final improvement to a path found by other methods. In order to avoid a very difficult optimization over all the path's points, it is modeled by a sequence of splines defined by a gradually increasing number of knots