Collision-Free and Curvature-Continuous Path Smoothing In Cluttered Environments
Jia Pan, Liangjun Zhang, Dinesh Manocha · 2011
We present a novel trajectory computation algorithm to smooth jerky collision-free paths computed by samplebased motion planners.Our approach uses cubic B-splines to generate G 2 or curvature continuous trajectories.The algorithm performs local spline refinement to compute smooth, collision-free paths in narrow passages and satisfy velocity and acceleration constraints.We also present a fast and reliable algorithm for collision checking between robot and the environment along the B-spline trajectories.We highlight the performance of our algorithm on complex benchmarks, including path computation for rigid and articulated models in tight spaces and cluttered environments.