NDLI: Robot motion planning in a dynamic environment using offset Non-Uniform Rational B-Splines (NURBS)

Content Provider	IEEE Xplore Digital Library
Author	Singh, A.K. Aggarwal, A. Vashisht, M. Siddavatam, R.
Copyright Year	2011
Description	Author affiliation: Department of Computer Science & IT, Jaypee University of Information Technology, Waknaghat Solan -173215, HP, India (Siddavatam, R.) \|\| Computer Science & IT, Jaypee University Of Information Technology, Waknaghat, HP, India (Singh, A.K.; Aggarwal, A.; Vashisht, M.)
Abstract	A new method of collision free motion path planning using Non uniform rational B- Spline curves for mobile robots is addressed in this paper. Obstacles of polygonal nature are used and the navigation occurs in a dynamic environment. Mathematical Modeling with vector addition technique is used to compute the set of points which will form the final path. NURBS technique is applied on the computed set of points which results in smooth curve as the final path, giving the advantage of more efficient motion. NURBS offsets of the computed NURBS path have been defined to avoid collision. Number of obstacles is not a constraint in the model presented. Number and position of obstacles can be changed dynamically which will be encountered by the robot and the path computed will be updated accordingly ensuring the shortest path.
Starting Page	312
Ending Page	317
File Size	1118209
Page Count	6
File Format	PDF
ISBN	9781424490646
e-ISBN	9781424490660
DOI	10.1109/ICIT.2011.5754393
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-03-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Spline Surface topography Surface reconstruction Mathematical model Heuristic algorithms Computational modeling Collision avoidance NURBS offset NURBS Robot motion planning Obstacle avoidance
Content Type	Text
Resource Type	Article

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