Author/Editor		Mahkovic, Rajko; Slivnik, Tomaž
Title		Path planning using B-splines
Type		članek
Source		In: Hamza MH, editor. Modelling, identification and control. Proceedings of the 13th IASTED international conference; 1994 Feb 21-23, Grindelwald, Switzerland. Anaheim: Acta press,
Publication year		1994
Volume		str. 19-22
Language		eng
Abstract		The paper propose a method of path planning with uniform nonrational B-splines. The final path is a parametric curve, combined of the cubic curve segments and is G2ž continuous (in parameter u). An algorithm which uses the property of local control is presented. The algorithm starts with the straight line between start and goal point and then, by inserting new control points, tries to pull the curve away from the place where an intersection with the obstacle occurs. If the new control point falls into some other obstacle, both obstacles are combined in a more complex one and the procedure is repeated from the beginning. The algorithm is, in general, able to accept given directions at start and goal point.
Descriptors		ROBOTICS PATTERN RECOGNITION SOFTWARE