Recursive method of smoothing curvature of path in path planning problems for wheeled robots

DOI10.1134/S0005117911070204MaRDI QIDQ650016zbMATH OpenOpenAlexFDO

Authors R. F. Gilimyanov

Publication date 25 November 2011

Published in Automation and Remote Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1134/s0005117911070204

zbMATH Keywords

path planningwheeled robotcubic B-splinescurvature constraintssmoothness requirements

Mathematics Subject Classification ID

Spline approximation (41A15) Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 850278 (Why is no real title available?)
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• Encyclopedia of Optimization
• Fairing cubic B-spline curves
• Motion control for a wheeled robot following a curvilinear path
• SPLINE FUNCTIONS AND THE PROBLEM OF GRADUATION
• Smoothing by spline functions.
• Smoothing curvature of trajectories constructed by noisy measurements in path planning problems for wheeled robots

Cited in

(9)

• A methodology for implementing the curvature theory approach to path tracking with planar robots
• Optimization of collision-free paths in a differential-drive robot by a smoothing piecewise-linear approach
• Path deformation method with constraints on normal curvature for wheeled robots in precision agriculture based on second-order cone programming
• Smoothing curvature of trajectories constructed by noisy measurements in path planning problems for wheeled robots
• Component-wise method of smoothing the curvature of spatial paths constructed by noisy measurements in robot motion planning problems
• Coverage path planning for 3D terrain with constraints on trajectory curvature based on second-order cone programming
• Mobile robot path planning for fine‐grained and smooth path spcification
• Path planning, modeling and simulation of an autonomous articulated heavy construction machine performing a loading cycle
• Smooth path planning via cubic GHT-Bézier spiral curves based on shortest distance, bending energy and curvature variation energy

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