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Path shortening and smoothing of grid-based path planning with consideration of obstacles | IEEE Conference Publication | IEEE Xplore

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


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 b...Show More

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.
Date of Conference: 07-10 October 2007
Date Added to IEEE Xplore: 02 January 2008
ISBN Information:
Print ISSN: 1062-922X
Conference Location: Montreal, QC, Canada

References

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