File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1177/0278364912453186
- Scopus: eid_2-s2.0-84865512057
- WOS: WOS:000307838700003
- Find via
Supplementary
- Citations:
- Appears in Collections:
Article: Collision-free and smooth trajectory computation in cluttered environments
Title | Collision-free and smooth trajectory computation in cluttered environments |
---|---|
Authors | |
Keywords | simulation virtual reality Animation path planning for manipulators |
Issue Date | 2012 |
Citation | International Journal of Robotics Research, 2012, v. 31, n. 10, p. 1155-1175 How to Cite? |
Abstract | We present a novel trajectory computation algorithm to smooth piecewise linear collision-free trajectories computed by sample-based motion planners. Our approach uses cubic B-splines to generate trajectories that are C2 almost everywhere, except on a few isolated points. The algorithm performs local spline refinement to compute smooth, collision-free trajectories and it works well even in environments with narrow passages. We also present a fast and reliable algorithm for collision checking between a 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 cluttered environments. © 2012 The Author(s). |
Persistent Identifier | http://hdl.handle.net/10722/206212 |
ISSN | 2023 Impact Factor: 7.5 2023 SCImago Journal Rankings: 4.346 |
ISI Accession Number ID |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Pan, Jia | - |
dc.contributor.author | Zhang, Liangjun | - |
dc.contributor.author | Manocha, Dinesh | - |
dc.date.accessioned | 2014-10-22T01:25:28Z | - |
dc.date.available | 2014-10-22T01:25:28Z | - |
dc.date.issued | 2012 | - |
dc.identifier.citation | International Journal of Robotics Research, 2012, v. 31, n. 10, p. 1155-1175 | - |
dc.identifier.issn | 0278-3649 | - |
dc.identifier.uri | http://hdl.handle.net/10722/206212 | - |
dc.description.abstract | We present a novel trajectory computation algorithm to smooth piecewise linear collision-free trajectories computed by sample-based motion planners. Our approach uses cubic B-splines to generate trajectories that are C2 almost everywhere, except on a few isolated points. The algorithm performs local spline refinement to compute smooth, collision-free trajectories and it works well even in environments with narrow passages. We also present a fast and reliable algorithm for collision checking between a 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 cluttered environments. © 2012 The Author(s). | - |
dc.language | eng | - |
dc.relation.ispartof | International Journal of Robotics Research | - |
dc.subject | simulation | - |
dc.subject | virtual reality | - |
dc.subject | Animation | - |
dc.subject | path planning for manipulators | - |
dc.title | Collision-free and smooth trajectory computation in cluttered environments | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1177/0278364912453186 | - |
dc.identifier.scopus | eid_2-s2.0-84865512057 | - |
dc.identifier.volume | 31 | - |
dc.identifier.issue | 10 | - |
dc.identifier.spage | 1155 | - |
dc.identifier.epage | 1175 | - |
dc.identifier.eissn | 1741-3176 | - |
dc.identifier.isi | WOS:000307838700003 | - |
dc.identifier.issnl | 0278-3649 | - |