• DocumentCode
    1892762
  • Title

    Dynamic path planning and execution using B-Splines

  • Author

    Arney, Timothy

  • Author_Institution
    Fac. of Eng., Univ. of Technol., Sydney, Sydney, NSW
  • fYear
    2007
  • fDate
    4-6 Dec. 2007
  • Firstpage
    1
  • Lastpage
    6
  • Abstract
    This paper presents a technique for generating a continuous trajectory from a series of waypoints which represent a static path. Furthermore, a method is described for efficiently altering this trajectory in response to a dynamic environment. This is achieved by applying an interpolated B- spline to the waypoints which is only altered in the area local to the obstacle.
  • Keywords
    collision avoidance; mobile robots; splines (mathematics); b-splines; continuous trajectory; dynamic path planning; waypoints; Australia; Interpolation; Paper technology; Path planning; Polynomials; Spline; Systems engineering and theory; Telephony; Trajectory; Vehicle dynamics;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Information and Automation for Sustainability, 2007. ICIAFS 2007. Third International Conference on
  • Conference_Location
    Melbourne, VIC
  • Print_ISBN
    978-1-4244-1899-2
  • Electronic_ISBN
    978-1-4244-1900-5
  • Type

    conf

  • DOI
    10.1109/ICIAFS.2007.4544771
  • Filename
    4544771
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1892762