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- Publisher Website: 10.15607/rss.2011.vii.032
- Scopus: eid_2-s2.0-84904581410
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Conference Paper: Collision-free and curvature-continuous path smoothing in cluttered environments
Title | Collision-free and curvature-continuous path smoothing in cluttered environments |
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Authors | |
Issue Date | 2012 |
Publisher | MIT Press. |
Citation | International Conference on Robotics Science and Systems (RSS 2011), Los Angeles, CA, 27-30 June 2011. In Durrant-Whyte, H, Roy, N, Abbeel, P (Eds.), Robotics: Science and Systems VII, p. 233-240. Cambridge, MA: MIT Press, 2012 How to Cite? |
Abstract | 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. |
Persistent Identifier | http://hdl.handle.net/10722/308849 |
ISBN |
DC Field | Value | Language |
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dc.contributor.author | Pan, Jia | - |
dc.contributor.author | Zhang, Liangjun | - |
dc.contributor.author | Manocha, Dinesh | - |
dc.date.accessioned | 2021-12-08T07:50:15Z | - |
dc.date.available | 2021-12-08T07:50:15Z | - |
dc.date.issued | 2012 | - |
dc.identifier.citation | International Conference on Robotics Science and Systems (RSS 2011), Los Angeles, CA, 27-30 June 2011. In Durrant-Whyte, H, Roy, N, Abbeel, P (Eds.), Robotics: Science and Systems VII, p. 233-240. Cambridge, MA: MIT Press, 2012 | - |
dc.identifier.isbn | 9780262517799 | - |
dc.identifier.uri | http://hdl.handle.net/10722/308849 | - |
dc.description.abstract | 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. | - |
dc.language | eng | - |
dc.publisher | MIT Press. | - |
dc.relation.ispartof | Robotics: Science and Systems VII | - |
dc.title | Collision-free and curvature-continuous path smoothing in cluttered environments | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_OA_fulltext | - |
dc.identifier.doi | 10.15607/rss.2011.vii.032 | - |
dc.identifier.scopus | eid_2-s2.0-84904581410 | - |
dc.identifier.spage | 233 | - |
dc.identifier.epage | 240 | - |
dc.identifier.eissn | 2330-765X | - |
dc.publisher.place | Cambridge, MA | - |