2A1-D06 Path shortening and smoothing of grid-based path planning results in consderation of obstacles
Masatomo Kanehara, Satoshi Kagami, Simon Thompson, James Kuffner, Hiroshi Mizoguchi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2007
This paper describes a path smoothing method that results in paths with clothoidal curvature and which includes a safety margin from obstacles. The method modifies grid based A^* results, and tries to push the given path away from obstacles. A technique to take into account the initial direction of robot is also shown.