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
  • 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 
    59 Citations
    Continuous-Curvature Bounded Trajectory Planning Using Parametric Splines
    • 16
    • PDF
    Modified Spline-based Path Planning for Autonomous Ground Vehicle
    • 8
    • PDF
    Combining Voronoi Graph and Spline-Based Approaches for a Mobile Robot Path Planning
    Voronoi-based trajectory optimization for UGV path planning
    • 7
    Continuous Path Smoothing for Car-Like Robots Using B-Spline Curves
    • 86
    A comparative study of smooth path planning for a mobile robot considering kinematic constraints
    • Sinem On, A. Yazici
    • Computer Science
    • 2011 International Symposium on Innovations in Intelligent Systems and Applications
    • 2011
    • 7
    Path Planning and Following of Omnidirectional Mobile Robot Based on B-spline
    • 4
    Path planning with obstacle avoidance by G1 PH quintic splines
    • 11
    An Analytical Continuous-Curvature Path-Smoothing Algorithm
    • 171

    References

    SHOWING 1-10 OF 20 REFERENCES
    A novel approach to smooth trajectory planning of a mobile robot
    • S. Aydin, H. Temeltas
    • Computer Science
    • 7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623)
    • 2002
    • 21
    Smooth path planning by using visibility graph-like method
    • T. Kito, J. Ota, +4 authors T. Nishiyama
    • Mathematics, Computer Science
    • 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
    • 2003
    • 34
    • PDF
    Continuous smooth path execution for an autonomous guided vehicle (AGV)
    • 8
    Smooth motion planning for car-like vehicles
    • 177
    • PDF
    Primitives for smoothing mobile robot trajectories
    • 95
    Path planning using a potential field representation
    • Yong Koo Hwang, N. Ahuja
    • Mathematics, Computer Science
    • Proceedings CVPR '89: IEEE Computer Society Conference on Computer Vision and Pattern Recognition
    • 1989
    • 12
    • PDF
    Sensor based navigation for car-like mobile robots using generalized Voronoi graph
    • K. Nagatani, Yosuke Iwai, Y. Tanaka
    • Mathematics, Computer Science
    • Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
    • 2001
    • 35
    • PDF
    Path-planning strategies for a point mobile automaton moving amidst unknown obstacles of arbitrary shape
    • 491
    • PDF
    Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
    • O. Khatib
    • Engineering, Computer Science
    • Autonomous Robot Vehicles
    • 1990
    • 2,888
    Potential field methods and their inherent limitations for mobile robot navigation
    • Y. Koren, J. Borenstein
    • Engineering, Computer Science
    • Proceedings. 1991 IEEE International Conference on Robotics and Automation
    • 1991
    • 1,558
    • PDF