Spline-Based Robot Navigation
@article{Magid2006SplineBasedRN, title={Spline-Based Robot Navigation}, author={Evgeni Magid and Daniel Keren and Ehud Rivlin and Irad Yavneh}, journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2006}, pages={2296-2301} }
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
63 Citations
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A modification of the original spline-based path planning algorithm for a mobile robot navigation is proposed, which succeeds to solve local minima problem and adds additional criteria of start and target points visibility to help optimizing the path selection.
Combining Voronoi Graph and Spline-Based Approaches for a Mobile Robot Path Planning
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A modification of the original spline-based path planning algorithm for a mobile robot navigation is proposed, which succeeds to solve local minima problem and considers additional criteria of start and target points visibility to help optimizing the path selection.
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A path planning algorithm is described, which allows to build a preliminary motion trajectory using global information about environment, and then dynamically adjust the path in real-time by varying objective function weights.
Continuous Path Smoothing for Car-Like Robots Using B-Spline Curves
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Using presented approach, autonomous vehicles generate and follow paths that humans are accustomed to, with minimum disturbances, and ultimately contribute towards passenger comfort improvement.
A comparative study of smooth path planning for a mobile robot considering kinematic constraints
- Business2011 International Symposium on Innovations in Intelligent Systems and Applications
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In this study, a smooth path planning approach is proposed and compared to path smoothing for an autonomous mobile robot and experiments are conducted to show the effectiveness of the proposed approach.
Path Planning and Following of Omnidirectional Mobile Robot Based on B-spline
- Computer Science2018 Chinese Control And Decision Conference (CCDC)
- 2018
A path planning method of omnidirectional mobile robot based on Uniform Cubic B-Spline Curves that avoids large-scale matrix calculation, effectively reduces the time complexity and space complexity of the algorithm and has strong operability.
Modified Spline-Based Navigation: Guaranteed Safety for Obstacle Avoidance
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A modification of the original spline-based path planning algorithm, which consists of two levels of planning, where Voronoi-based approach provides a number sub-optimal paths in different homotopic groups and a new safety criterion is integrated into both levels to guarantee path safety.
An Analytical Continuous-Curvature Path-Smoothing Algorithm
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Results show the effectiveness of the analytical algorithm in generating a continuous-Curvature path, which satisfies an upper bound-curvature constraint, and that the path generated requires less control effort to track and minimizes control-input variability.
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