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dc.contributor.author
Maček, Kristijan
dc.contributor.author
Siegwart, Roland
dc.date.accessioned
2021-07-28T14:00:53Z
dc.date.available
2017-06-10T10:36:09Z
dc.date.available
2018-09-13T11:10:18Z
dc.date.available
2021-07-28T14:00:53Z
dc.date.issued
2009
dc.identifier.issn
1474-6670
dc.identifier.other
10.3182/20060906-3-IT-2910.00108
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/57922
dc.description.abstract
This paper addresses the problem of path planning of mobile robots in dynamic environments. A collision-free trajectory of the robot is generated in the presence of moving obstacles that is three times differentiable and enables direct derivation of kinematic level controls for the robot. A chained form decomposition and state transformation for a geometric and time criterion of collision avoidance is based on an approach where closed-form solution is found for a polynomial family of curves based on only one adjustable parameter for collision avoidance. However, the sensitivity of the parameter is considerable and can induce trajectories with large detours from the goal direction. Therefore, a family of curves based on B-splines is introduced here that enables better local curve shape control. Relative obstacles to robot movement determines the prohibited regions in the transformed space. Thereafter, a collision-free path is found by a line-segment expansion from the transformed start and goal configuration based on Rapidly-exploring Random Trees. Thus obtained path is further approximated by a B-spline curve resulting in the final smooth trajectory.
en_US
dc.language.iso
en
en_US
dc.publisher
Elsevier
en_US
dc.title
Motion planning in the presence of moving obstacles using RRT search and B-splines
en_US
dc.type
Conference Paper
dc.date.published
2016-04-23
ethz.book.title
8th IFAC Symposium on Robot Control
en_US
ethz.journal.title
IFAC Proceedings Volumes
ethz.journal.volume
39
en_US
ethz.journal.issue
15
en_US
ethz.pages.start
647
en_US
ethz.pages.end
652
en_US
ethz.event
8th IFAC Symposium on Robot Control (SYROCO 2006)
en_US
ethz.event.location
Bologna, Italy
en_US
ethz.event.date
September 6-8, 2006
en_US
ethz.publication.place
Oxford
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.date.deposited
2017-06-10T10:36:43Z
ethz.source
ECIT
ethz.identifier.importid
imp59364ff039f9c47875
ethz.ecitpid
pub:92649
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2017-07-12T20:27:23Z
ethz.rosetta.lastUpdated
2022-03-29T10:47:24Z
ethz.rosetta.versionExported
true
ethz.COinS
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