TY - GEN
T1 - Collision-free and curvature-continuous path smoothing in cluttered environments
AU - Pan, Jia
AU - Zhang, Liangjun
AU - Manocha, Dinesh
PY - 2012
Y1 - 2012
N2 - We present a novel trajectory computation algorithm to smooth jerky collision-free paths computed by samplebased motion planners. Our approach uses cubic B-splines to generate G2 or curvature continuous trajectories. The algorithm performs local spline refinement to compute smooth, collision-free paths in narrow passages and satisfy velocity and acceleration constraints. We also present a fast and reliable algorithm for collision checking between robot and the environment along the B-spline trajectories. We highlight the performance of our algorithm on complex benchmarks, including path computation for rigid and articulated models in tight spaces and cluttered environments.
AB - We present a novel trajectory computation algorithm to smooth jerky collision-free paths computed by samplebased motion planners. Our approach uses cubic B-splines to generate G2 or curvature continuous trajectories. The algorithm performs local spline refinement to compute smooth, collision-free paths in narrow passages and satisfy velocity and acceleration constraints. We also present a fast and reliable algorithm for collision checking between robot and the environment along the B-spline trajectories. We highlight the performance of our algorithm on complex benchmarks, including path computation for rigid and articulated models in tight spaces and cluttered environments.
UR - https://www.scopus.com/pages/publications/84904581410
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-84904581410&origin=recordpage
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9780262517799
VL - 7
SP - 233
EP - 240
BT - Robotics: Science and Systems
PB - MIT Press
T2 - International Conference on Robotics Science and Systems, RSS 2011
Y2 - 27 June 2011 through 1 July 2011
ER -