Spline-Based Robot Navigation
.
Spline-Based Robot Navigation.
In Proc. Of the IEEE/RSJ International Conf. on Intelligent Robots and Systems, 2006
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Abstract
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.
Co-authors
Bibtex Entry
@inproceedings{MagidKRY06i,
title = {Spline-Based Robot Navigation.},
author = {Evgeni Magid and Daniel Keren and Ehud Rivlin and Irad Yavneh},
year = {2006},
month = {October},
booktitle = {Proc. Of the IEEE/RSJ International Conf. on Intelligent Robots and Systems},
abstract = {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.}
}