Path Planning Based on Parametric Curves
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Otros documentos de la autoría: Hilario Pérez, Lucia; Mora, Marta Covadonga; Montes Sánchez, Nicolás; Falco, Antonio
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Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7035
comunitat-uji-handle3:10234/146091
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INVESTIGACIONMetadatos
Título
Path Planning Based on Parametric CurvesFecha de publicación
2018Editor
IntechOpenISBN
978-1-78923-579-1Cita bibliográfica
Pérez, L. H., Aguilar, M. C. M., Sánchez, N. M., & Montesinos, A. F. (2018). Path Planning Based on Parametric Curves. En Advanced Path Planning for Mobile Entities. IntechOpen. p. 125-143 DOI: 10.5772/intechopen.69591Tipo de documento
info:eu-repo/semantics/bookPartVersión de la editorial
https://www.intechopen.com/books/advanced-path-planning-for-mobile-entities/path ...Versión
info:eu-repo/semantics/publishedVersionPalabras clave / Materias
Resumen
Parametric curves are extensively used in engineering. The most commonly used parametric
curves are, Bézier, B-splines, (NURBSs), and rational Bézier. Each and every one
of them has special features, being the main ... [+]
Parametric curves are extensively used in engineering. The most commonly used parametric
curves are, Bézier, B-splines, (NURBSs), and rational Bézier. Each and every one
of them has special features, being the main difference between them the complexity of
their mathematical definition. While Bézier curves are the simplest ones, B-splines or
NURBSs are more complex. In mobile robotics, two main problems have been addressed
with parametric curves. The first one is the definition of an initial trajectory for a mobile
robot from a start location to a goal. The path has to be a continuous curve, smooth and
easy to manipulate, and the properties of the parametric curves meet these requirements.
The second one is the modification of the initial trajectory in real time attending
to the dynamic properties of the environment. Parametric curves are capable of enhancing
the trajectories produced by path planning algorithms adapting them to the kinematic
properties of the robot. In order to avoid obstacles, the shape modification of
parametric curves is required. In this chapter, an algorithm is proposed for computing
an initial Bézier trajectory of a mobile robot and subsequently modifies it in real time in
order to avoid obstacles in a dynamic environment. [-]
Derechos de acceso
© 2018 The Author(s). Licensee IntechOpen
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess
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