Navigation with Polytopes: A Toolbox for Optimal Path Planning with Polytope Maps and B-spline Curve...
Navigation with Polytopes: A Toolbox for Optimal Path Planning with Polytope Maps and B-spline Curves
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Publisher
Switzerland: MDPI AG
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Language
English
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Publisher
Switzerland: MDPI AG
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Contents
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 navigatio...
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Full title
Navigation with Polytopes: A Toolbox for Optimal Path Planning with Polytope Maps and B-spline Curves
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TN_cdi_doaj_primary_oai_doaj_org_article_b93d5a9f00f44c27ab1e183ee2c054ac
Permalink
https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_b93d5a9f00f44c27ab1e183ee2c054ac
Other Identifiers
ISSN
1424-8220
E-ISSN
1424-8220
DOI
10.3390/s23073532
