Robotics: Science and Systems VII

Collision-Free and Curvature-Continuous Path Smoothing In Cluttered Environments

Jia Pan, Liangjun Zhang, Dinesh Manocha


We present a novel trajectory computation algorithm to smoothen jerky collision-free paths computed by samplebased motion planners. Our approach uses cubic B-splines to generate G2 or curvature continuous trajectories. The algorithm performs local spline refinement to compute collision-free trajectories in narrow passages and satisfies 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 narrow passages.



    AUTHOR    = {Jia Pan AND Liangjun Zhang AND Dinesh Manocha}, 
    TITLE     = {Collision-Free and Curvature-Continuous Path Smoothing In Cluttered Environments}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2011}, 
    ADDRESS   = {Los Angeles, CA, USA}, 
    MONTH     = {June},
    DOI       = {10.15607/RSS.2011.VII.032}