Path Planning Based on Parametric Curves
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Altres documents de l'autoria: Hilario Pérez, Lucia; Mora, Marta Covadonga; Montes Sánchez, Nicolás; Falco, Antonio
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Mostra el registre complet de l'elementcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7035
comunitat-uji-handle3:10234/146091
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INVESTIGACIONMetadades
Títol
Path Planning Based on Parametric CurvesData de publicació
2018Editor
IntechOpenISBN
978-1-78923-579-1Cita bibliogràfica
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.69591Tipus de document
info:eu-repo/semantics/bookPartVersió de l'editorial
https://www.intechopen.com/books/advanced-path-planning-for-mobile-entities/path ...Versió
info:eu-repo/semantics/publishedVersionParaules clau / Matèries
Resum
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. [-]
Drets d'accés
© 2018 The Author(s). Licensee IntechOpen
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess
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