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Problemy Upravleniya, 2011, Issue 6, Pages 66–72
(Mi pu687)
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This article is cited in 1 scientific paper (total in 1 paper)
Control the moving objects and navigation
Component-wise method of smoothing the curvature of spatial paths constructed by noisy measurements in robot motion planning problems
R. F. Gilimyanov Institute of Control Sciences, Russian Academy of Sciences, Moscow
Abstract:
A motion planning problem for a robot is considered. A robot follows a path in the manual mode and path coordinates are measured by a GNSS receiver. Repeating this path in the automatic mode requires constructing a geometric path that satisfies certain smoothness conditions and curvature constraints. This paper suggests the component-wise method for improving the curvature of a 3D path consisting of uniform cubic B-splines. Finally, the results of applying the proposed method to real paths of a motor vehicle and helicopter measured by a GNSS receiver are provided.
Citation:
R. F. Gilimyanov, “Component-wise method of smoothing the curvature of spatial paths constructed by noisy measurements in robot motion planning problems”, Probl. Upr., 2011, no. 6, 66–72; Automation and Remote Control, 74:5 (2013), 853–862
Linking options:
https://www.mathnet.ru/eng/pu687 https://www.mathnet.ru/eng/pu/v6/p66
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Statistics & downloads: |
Abstract page: | 314 | Full-text PDF : | 79 | References: | 56 | First page: | 6 |
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