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

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 r...

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Bibliographic Details
Main Authors: Kanehara, M., Kagami, S., Kuffner, J.J., Thompson, S., Mizoguhi, H.
Format: Conference Proceeding
Language:English
Subjects:
Costs
Equations
Mobile robots
Path planning
Polynomials
Safety
Sampling methods
Smoothing methods
Online Access:Request full text
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Description
Summary: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.
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.2007.4414077