Path planning with obstacle avoidance by G1 PH quintic splines. (June 2016)

• Record Type: Journal Article
• Authors: Giannelli, Carlotta; Mugnaini, Duccio; Sestini, Alessandra
• Is Part Of: Computer aided design. Volume 75/76(2016)
• Page Start: 47
• Page End: 60
• Publication Date: 2016-06
• Subjects: Path planning -- Obstacle avoidance -- Spline -- Pythagorean-hodograph curves -- Tension parameters; Computer-aided design -- Periodicals; Engineering design -- Data processing -- Periodicals; Computer graphics -- Periodicals; Conception technique -- Informatique -- Périodiques; Infographie -- Périodiques; Computer graphics; Engineering design -- Data processing; Periodicals; Electronic journals; 620.00420285
• DOI: 10.1016/j.cad.2016.02.004
• Languages: English
• ISSNs: 0010-4485

Abstract

Abstract: We propose a two-step approach for the construction of planar smooth collision-free navigation paths. Obstacle avoidance techniques that rely on classical data structures are initially considered for the identification of piecewise linear paths having no intersection with the obstacles of a given scenario. Variations of the shortest piecewise linear path with angle-based criteria are proposed and discussed. In the second part of the scheme we rely on spline interpolation algorithms with tension parameters to provide a smooth planar control strategy. In particular, we consider the class of curves with Pythagorean structures, because they provide an exact computation of fundamental geometric quantities. A selection of test cases demonstrates the quality of the new motion planning scheme. Highlights: A two-step approach to design planar smooth collision-free paths is presented. The construction of piecewise linear paths with angle-based criteria is investigated. The smooth path is based on PH spline interpolation schemes with tension parameters. A selection of test cases demonstrates the quality of the new motion planning scheme.