Spline-Based Robot Navigation

  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},
  • E. Magid, D. Keren, I. Yavneh
  • Published 1 October 2006
  • 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 

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