Title :
Path shortening and smoothing of grid-based path planning with consideration of obstacles
Author :
Kanehara, Masatomo ; Kagami, Satoshi ; Kuffner, James J. ; Thompson, Simon ; Mizoguhi, Hiroshi
Author_Institution :
Nat. Inst. of Adv. Ind. Sci. & Technol., Tokyo
Abstract :
This paper describes a path smoothing method that results in paths with clothoidal curvature and which includes a safety margin from obstacles. The method modifies grid based A* results, and tries to push the given path away from obstacles. A technique to take into account the initial direction of robot is also shown.
Keywords :
collision avoidance; grid-based path planning; obstacle avoidance; path shortening method; path smoothing method; robot; safety margin; Costs; Equations; Mobile robots; Path planning; Polynomials; Safety; Sampling methods; Smoothing methods;
Conference_Titel :
Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
978-1-4244-0990-7
Electronic_ISBN :
978-1-4244-0991-4
DOI :
10.1109/ICSMC.2007.4414077
