Navigation with Polytopes: A Toolbox for Optimal Path Planning with Polytope Maps and B-spline Curves.
Ngoc Thinh NguyenPranav Tej GangavarapuNiklas Fin KompeGeorg SchildbachFloris ErnstPublished in: Sensors (2023)
Keyphrases
- b spline
- path planning
- obstacle avoidance
- optimal path
- collision free
- potential field
- autonomous vehicles
- lattice points
- indoor environments
- mobile robot
- control points
- autonomous navigation
- navigation tasks
- path planning algorithm
- convex hull
- collision avoidance
- tensor product
- cubic b spline
- dynamic environments
- least squares
- basis functions
- motion planning
- multi robot
- unknown environments
- contour extraction
- curve matching
- route planning
- dynamic and uncertain environments
- curve fitting
- surface fitting
- degrees of freedom
- free form deformation
- path planner
- robot path planning
- dynamic programming
- extreme points
- topological map
- affine transformation
- optimal solution
- multiple robots
- unmanned aerial vehicles
- computer vision
- deformation field