Spline-Based Robot Navigation

— This paper offers a path planning algorithm based on splines. The sought path avoids the obstacles, and is smooth and short. Smoothing is used as an integral part of the algorithm, and not only as a final improvement to a path found by other methods. In order to avoid a very difficult optimization over all the path’s points, it is modeled by a sequence of splines defined by a gradually increasing number of knots.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Evgeni Magid, Daniel Keren, Ehud Rivlin, Irad Yavneh
• Keywords: IROS 2006, Path Planning Algorithm, Robotics, Sought Path, final Improvement