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B-spline path planner for safe navigation of mobile robots

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2021

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Nguyen, Ngoc Thinh
Schilling, Lars
Angern, Michael Sebastian
Ernst, Floris
Schildbach, Georg

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PŘEUČIL, Libor, ed., Robert BABUŠKA, ed.. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Piscataway, NJ: IEEE, 2021, pp. 339-345. ISSN 2153-0858. eISSN 2153-0866. ISBN 978-1-66541-714-3. Available under: doi: 10.1109/IROS51168.2021.9636612

Zusammenfassung

We propose a 2D path planning algorithm in a non-convex workspace defined as a sequence of connected convex polytopes. The reference path is parameterized as a B-spline curve, which is guaranteed to entirely remain within the workspace by exploiting the local convexity property and by formulating linear constraints on the control points of the B-spline. The novelties of the paper lie in the use of the equivalent Bézier representation of the B-spline curve, which significantly reduces the conservatism in the local convexity bound and in the integration of these constraints into a convex quadratic optimization problem, which minimizes the curve length. The algorithm is successfully validated in both simulations and experiments, by providing obstacle-free reference paths on real occupancy grid maps obtained from the laser scan data of a mobile robot platform.

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 27. Sept. 2021 - 1. Okt. 2021, Prague, Czech Republic
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ISO 690NGUYEN, Ngoc Thinh, Lars SCHILLING, Michael Sebastian ANGERN, Heiko HAMANN, Floris ERNST, Georg SCHILDBACH, 2021. B-spline path planner for safe navigation of mobile robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Prague, Czech Republic, 27. Sept. 2021 - 1. Okt. 2021. In: PŘEUČIL, Libor, ed., Robert BABUŠKA, ed.. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Piscataway, NJ: IEEE, 2021, pp. 339-345. ISSN 2153-0858. eISSN 2153-0866. ISBN 978-1-66541-714-3. Available under: doi: 10.1109/IROS51168.2021.9636612
BibTex
@inproceedings{Nguyen2021Bspli-59731,
  year={2021},
  doi={10.1109/IROS51168.2021.9636612},
  title={B-spline path planner for safe navigation of mobile robots},
  isbn={978-1-66541-714-3},
  issn={2153-0858},
  publisher={IEEE},
  address={Piscataway, NJ},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={339--345},
  editor={Přeučil, Libor and Babuška, Robert},
  author={Nguyen, Ngoc Thinh and Schilling, Lars and Angern, Michael Sebastian and Hamann, Heiko and Ernst, Floris and Schildbach, Georg}
}
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