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Motion planning in the presence of moving obstacles using RRT search and B-splines
(2009)IFAC Proceedings Volumes ~ 8th IFAC Symposium on Robot ControlThis 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 ...Conference Paper