Real-Time Spline Trajectory Creation and Optimization for Mobile Robots

Koceski, Saso and Koceska, Natasa and Zobel, Pierluigi Beomonte and Durante, Francesco (2009) Real-Time Spline Trajectory Creation and Optimization for Mobile Robots. In: International Conference on Automation, Robotics and Control Systems, 13-16 July 2009, Orlando, Florida, USA.


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In the field of mobile robotics, calculating suitable paths, for point to point navigation, is computationally difficult. Maneuvering the vehicle safely around obstacles is essential, and the ability to generate safe paths in a real time environment is crucial for vehicle viability. A method for developing feasible paths through complicated environments using a baseline smooth path based on Hermite cubic splines is presented. A method able to iteratively optimize the path is also presented. This algorithm has been experimentally evaluated with satisfactory results.

Item Type: Conference or Workshop Item (Paper)
Subjects: Natural sciences > Computer and information sciences
Divisions: Faculty of Computer Science
Depositing User: Natasa Koceska
Date Deposited: 03 Feb 2014 10:24
Last Modified: 03 Feb 2014 10:24

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