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 MoreMetadata
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