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Authors: Simon Landrault ; Philippe Lucidarme and Nicolas Delanoue

Affiliation: LISA and University of Angers, France

Keyword(s): Mobile Robots, Path-Planning , Voronoï Diagrams, Bézier Curves, Way Points.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Optimization Algorithms ; Robotics and Automation

Abstract: Generalized Voronoï Diagrams has been demonstrated to be a relevant tool for planification in a mobile robotics context. Therefore, the generated trajectories may suffer of discontinuities and non-optimality. This paper introduces a reflexion on the use of Bézier curves to solve both of this drawbacks. The key idea of this paper it is to be able to smooth a trajectory in order to save traveling time and therefore limits displacement and overall consumption (in our mobile robotics context, reduction of battery usage and localization errors). The presented work is firstly detailed and explained on a synthetic map, and experimental results with mobile robots are presented. Disadvantages and advantages are discussed at the end of the paper.

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Paper citation in several formats:
Landrault, S.; Lucidarme, P. and Delanoue, N. (2013). Path Planning Optimization based on Bézier Curves through Open-doors Way Point. In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-71-6; ISSN 2184-2809, SciTePress, pages 156-161. DOI: 10.5220/0004431301560161

@conference{icinco13,
author={Simon Landrault. and Philippe Lucidarme. and Nicolas Delanoue.},
title={Path Planning Optimization based on Bézier Curves through Open-doors Way Point},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2013},
pages={156-161},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004431301560161},
isbn={978-989-8565-71-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Path Planning Optimization based on Bézier Curves through Open-doors Way Point
SN - 978-989-8565-71-6
IS - 2184-2809
AU - Landrault, S.
AU - Lucidarme, P.
AU - Delanoue, N.
PY - 2013
SP - 156
EP - 161
DO - 10.5220/0004431301560161
PB - SciTePress

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