Dynamic path planning and execution using B-Splines

被引：10
作者：
Arney, Timothy [1 ]
机构：
[1] Univ Technol Sydney, Fac Engn, ARC Ctr Excellence Autonomous Syst, Broadway, NSW 2007, Australia
来源：
2007 THIRD INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION FOR SUSTAINABILITY | 2007年
关键词：
D O I：
10.1109/ICIAFS.2007.4544771
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a technique for generating a continuous trajectory from a series of waypoints which represent a static path. Furthermore, a method is described for efficiently altering this trajectory in response to a dynamic environment. This is achieved by applying an interpolated B-Spline to the waypoints which is only altered in the area local to the obstacle.
引用
收藏
页码：1 / 6
页数：6
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