Navigation with Polytopes: A Toolbox for Optimal Path Planning with Polytope Maps and B-spline Curves
Sensors, ISSN: 1424-8220, Vol: 23, Issue: 7
2023
- 7Citations
- 5Captures
- 1Mentions
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New Data from University of Lubeck Illuminate Research in Sensor Research (Navigation with Polytopes: A Toolbox for Optimal Path Planning with Polytope Maps and B-spline Curves)
2023 APR 17 (NewsRx) -- By a News Reporter-Staff News Editor at Tech Daily News -- Investigators publish new report on sensor research. According to
Article Description
To deal with the problem of optimal path planning in 2D space, this paper introduces a new toolbox named “Navigation with Polytopes” and explains the algorithms behind it. The toolbox allows one to create a polytopic map from a standard grid map, search for an optimal corridor, and plan a safe B-spline reference path used for mobile robot navigation. Specifically, the B-spline path is converted into its equivalent Bézier representation via a novel calculation method in order to reduce the conservativeness of the constrained path planning problem. The conversion can handle the differences between the curve intervals and allows for efficient computation. Furthermore, two different constraint formulations used for enforcing a B-spline path to stay within the sequence of connected polytopes are proposed, one with a guaranteed solution. The toolbox was extensively validated through simulations and experiments.
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