期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 31, 期 10, 页码 1155-1175出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364912453186
关键词
Animation; simulation; virtual reality; path planning for manipulators
类别
资金
- ARO [W911NF-10-1-0506]
- NSF [0917040, 0904990, 1000579, 0937060]
- RDE-COM [WR91CRB-08-C-0137]
- Div Of Civil, Mechanical, & Manufact Inn
- Directorate For Engineering [1000579] Funding Source: National Science Foundation
We 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 C-2 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.
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