Paper Info
Title
Collision planner — A probabilistic single stage smooth path planner for mobile robots
Abstract
In this paper a path planning algorithm is proposed for mobile robots. The algorithm utilizes piecewise cubic splines to create a smooth path in the 2D workspace of a mobile robot, while specifying targeted random control points based on the collision detection and penetration characteristics of the candidate paths. The main advantage of the proposed method compared to other probabilistic path planners is that the samples generated are taken only in the free space connecting the start and goal configuration, thus utilizing the geometric characteristics to direct the sampling in proper areas. A wavefront inspired searching algorithm, called collision wave, is used to explore the configuration space, that generates feasible paths that can then be sorted according to a metric. The results show that the directed randomness of the control points reduces the required collision checks and the search space towards high efficiency.
Year
DOI
Venue
2014
10.1109/RAAD.2014.7002255
Robotics in Alpe-Adria-Danube Region
Keywords
Field
DocType
collision avoidance,mobile robots,probability,splines (mathematics),collision detection,collision wave,path planning algorithm,piecewise cubic splines,probabilistic single stage smooth path planner,random control points,path planning,probabilistic logic,vectors
Motion planning,Mathematical optimization,Any-angle path planning,Search algorithm,Collision detection,Collision,Probabilistic logic,Mathematics,Mobile robot,Configuration space
Conference
Citations 
PageRank 
References 
0
0.34
10
Authors
2
Name
Order
Citations
PageRank
Aris I. Synodinos120.74
Nikos A. Aspragathos224337.69