Author/Editor		Mahkovic, R; Slivnik, T
Title		Smooth path planning using B-splines interpolation
Type		članek
Source		In: Hamza MH, editor. Modelling, identification and control. Proceedings of the 14th IASTED international conference; 1995 Feb 20-22; Igls, Austria. Anaheim: Acta press,
Publication year		1995
Volume		str. 312-5
Language		eng
Abstract		Ck-2 path planning using B-spline (of order k) interpolafion among convex polygonal obstacles is presented. The method consists of smoothing C0 path, obtained from the preceeding path planning. Since the interpolation of certain points may resulfs in intersections of the path with the obstacles, repeated intersection tests have to be included in the iterative process of smoothing. The additional conditions to fill out a linear system of interpolating equations are imposed through two "boundary points". These points are not interpolated, but rather approximate the end conditions for natural spline. These conditions enable us to control the orientation (of the robot) at both ends of the path. The nonuniform B-splines are introduced in the paper in such a way that the intervals between the knots correspond to the Euclidean distances between the interpolative points. For the mobile robot this means more constant absolute velocity.
Descriptors		ROBOTICS PATTERN RECOGNITION SOFTWARE