Robotics: Science and Systems VII
Collision-Free and Curvature-Continuous Path Smoothing In Cluttered Environments
Jia Pan, Liangjun Zhang, Dinesh ManochaAbstract:
We present a novel trajectory computation algorithm to smoothen 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 collision-free trajectories in narrow passages and satisfies 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 narrow passages.
Bibtex:
@INPROCEEDINGS{Pan-RSS-11, AUTHOR = {Jia Pan AND Liangjun Zhang AND Dinesh Manocha}, TITLE = {Collision-Free and Curvature-Continuous Path Smoothing In Cluttered Environments}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2011}, ADDRESS = {Los Angeles, CA, USA}, MONTH = {June}, DOI = {10.15607/RSS.2011.VII.032} }