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Article: Collision-free and smooth trajectory computation in cluttered environments

TitleCollision-free and smooth trajectory computation in cluttered environments
Authors
Keywordssimulation
virtual reality
Animation
path planning for manipulators
Issue Date2012
Citation
International Journal of Robotics Research, 2012, v. 31, n. 10, p. 1155-1175 How to Cite?
AbstractWe present a novel trajectory computation algorithm to smooth piecewise linear collision-free trajectories computed by sample-based motion planners. Our approach uses cubic B-splines to generate trajectories that are C2 almost everywhere, except on a few isolated points. The algorithm performs local spline refinement to compute smooth, collision-free trajectories and it works well even in environments with narrow passages. We also present a fast and reliable algorithm for collision checking between a robot and the environment along the B-spline trajectories. We highlight the performance of our algorithm on complex benchmarks, including path computation for rigid and articulated models in cluttered environments. © 2012 The Author(s).
Persistent Identifierhttp://hdl.handle.net/10722/206212
ISSN
2015 Impact Factor: 2.489
2015 SCImago Journal Rankings: 4.184
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorPan, Jia-
dc.contributor.authorZhang, Liangjun-
dc.contributor.authorManocha, Dinesh-
dc.date.accessioned2014-10-22T01:25:28Z-
dc.date.available2014-10-22T01:25:28Z-
dc.date.issued2012-
dc.identifier.citationInternational Journal of Robotics Research, 2012, v. 31, n. 10, p. 1155-1175-
dc.identifier.issn0278-3649-
dc.identifier.urihttp://hdl.handle.net/10722/206212-
dc.description.abstractWe present a novel trajectory computation algorithm to smooth piecewise linear collision-free trajectories computed by sample-based motion planners. Our approach uses cubic B-splines to generate trajectories that are C2 almost everywhere, except on a few isolated points. The algorithm performs local spline refinement to compute smooth, collision-free trajectories and it works well even in environments with narrow passages. We also present a fast and reliable algorithm for collision checking between a robot and the environment along the B-spline trajectories. We highlight the performance of our algorithm on complex benchmarks, including path computation for rigid and articulated models in cluttered environments. © 2012 The Author(s).-
dc.languageeng-
dc.relation.ispartofInternational Journal of Robotics Research-
dc.subjectsimulation-
dc.subjectvirtual reality-
dc.subjectAnimation-
dc.subjectpath planning for manipulators-
dc.titleCollision-free and smooth trajectory computation in cluttered environments-
dc.typeArticle-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1177/0278364912453186-
dc.identifier.scopuseid_2-s2.0-84865512057-
dc.identifier.volume31-
dc.identifier.issue10-
dc.identifier.spage1155-
dc.identifier.epage1175-
dc.identifier.eissn1741-3176-
dc.identifier.isiWOS:000307838700003-

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