Collision-Free and Curvature-Continuous Path Smoothing
in Cluttered Environments
Jia Pan, Liangjun
Zhang, Dinesh Manocha
UNC Chapel Hill
Abstract
We
present a novel trajectory computation algorithm
to smooth jerky collision-free paths computed by
sample-based
motion planners. Our approach uses cubic B-splines to
generate G2 or curvature continuous trajectories.
The algorithm
performs local spline refinement to compute
smooth, collision-free
paths in narrow passages and satisfy velocity and
acceleration
constraints. We also present a fast and reliable
algorithm for
collision checking between 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 tight spaces
and cluttered
environments.
Paper
Collision-Free and Curvature-Continuous Path Smoothing in
Cluttered Environments (PDF)
Robotics
Science and Systems 2011
Collision-Free and Smooth Trajectory Computation in Cluttered Environments (PDF)
International Journal of Robotics and Resarch, to appear