• DocumentCode
    2547917
  • Title

    Path shortening and smoothing of grid-based path planning with consideration of obstacles

  • Author

    Kanehara, Masatomo ; Kagami, Satoshi ; Kuffner, James J. ; Thompson, Simon ; Mizoguhi, Hiroshi

  • Author_Institution
    Nat. Inst. of Adv. Ind. Sci. & Technol., Tokyo
  • fYear
    2007
  • fDate
    7-10 Oct. 2007
  • Firstpage
    991
  • Lastpage
    996
  • Abstract
    This paper describes a path smoothing method that results in paths with clothoidal curvature and which includes a safety margin from obstacles. The method modifies grid based A* results, and tries to push the given path away from obstacles. A technique to take into account the initial direction of robot is also shown.
  • Keywords
    collision avoidance; grid-based path planning; obstacle avoidance; path shortening method; path smoothing method; robot; safety margin; Costs; Equations; Mobile robots; Path planning; Polynomials; Safety; Sampling methods; Smoothing methods;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
  • Conference_Location
    Montreal, Que.
  • Print_ISBN
    978-1-4244-0990-7
  • Electronic_ISBN
    978-1-4244-0991-4
  • Type

    conf

  • DOI
    10.1109/ICSMC.2007.4414077
  • Filename
    4414077
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2547917