Title :
Spline-Based Robot Navigation
Author :
Magid, Evgeni ; Keren, Daniel ; Rivlin, Ehud ; Yavneh, Irad
Author_Institution :
Dept. of Appl. Mathematics, Technion-Israel Inst. of Technol., Haifa
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
Keywords :
collision avoidance; mobile robots; splines (mathematics); car like mobile robot; motion planning; obstacle avoidance; path planning algorithm; piano movers model; spline-based robot navigation; Computer science; Intelligent robots; Mobile robots; Navigation; Orbital robotics; Path planning; Shape; Spline; State-space methods; Vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282635
