Name
Abstract | ||
|---|---|---|
We propose a 2D path planning algorithm in a non-convex workspace defined as a sequence of connected convex polytopes. The reference path is parameterized as a B-spline curve, which is guaranteed to entirely remain within the workspace by exploiting the local convexity property and by formulating linear constraints on the control points of the B-spline. The novelties of the paper lie in the use of... |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/IROS51168.2021.9636612 | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Keywords | DocType | ISSN |
Navigation,Lasers,Path planning,Data models,Mobile robots,Splines (mathematics),Optimization | Conference | 2153-0858 |
ISBN | Citations | PageRank |
978-1-6654-1714-3 | 0 | 0.34 |
References | Authors | |
0 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ngoc Thinh Nguyen | 1 | 3 | 2.11 |
| Lars Schilling | 2 | 0 | 0.34 |
| Michael Sebastian Angern | 3 | 0 | 0.34 |
| Heiko Hamann | 4 | 317 | 42.00 |
| Floris Ernst | 5 | 69 | 19.42 |
| Georg Schildbach | 6 | 1 | 1.39 |