Navigation with polytopes and B-spline path planner
Ngoc Thinh Nguyen,Pranav Tej Gangavarapu,Arne Sahrhage,Georg Schildbach,Floris Ernst,Ngoc Thinh Nguyen,Pranav Tej Gangavarapu,Arne Sahrhage,Georg Schildbach,Floris Ernst
This paper firstly presents our optimal path planning algorithm within a $2\mathrm{D}$ non-convex, polytopic region defined as a sequence of connected convex polytopes. The path is a B-spline curve but being parametrized with its equivalent Bézier representation. By doing this, the local convexity bound of each curve's interval is significantly tighter. Thus, it allows many more possibilities for ...
