B-spline path planner for safe navigation of mobile robots
Ngoc Thinh Nguyen,Lars Schilling,Michael Sebastian Angern,Heiko Hamann,Floris Ernst,Georg Schildbach,Ngoc Thinh Nguyen,Lars Schilling,Michael Sebastian Angern,Heiko Hamann,Floris Ernst,Georg Schildbach
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...