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Fakultät für Mathematik, Physik und Informatik

Angewandte Informatik III - Robotik und eingebettete Systeme - Prof. Dr. Dominik HENRICH

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Publication

Efficient smoothing of piecewise linear paths with minimal deviation
Michel Waringo , Dominik Henrich

Abstract (english)
We present an anytime fast deterministic greedy method for smoothing piecewise linear paths consisting of connected linear segments by incrementally removing path points. First, points with only a small influence on path geometry are removed, i.e. aligned or nearly aligned points. Due to the removal of less important path points, the high computational and storage space requirements of the paths are reduced and traversal of the path is accelerated. Our algorithm can be used in the most diverse applications, i.e. sweeping, path finding or programming-bydemonstration in a virtual environment.

Publication data

Year: 2006
Publication date: 09. October 2006
Source: IROS 2006, IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing/China, 9.-15. 10. 2006, pp. 3867-3872
Project: RONAF
Referrer: https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=waringo2006a

BibTeX

@ARTICLE{waringo2006a,
  TITLE             = "Efficient smoothing of piecewise linear paths with minimal deviation",
  AUTHOR            = "Waringo, Michel and Henrich, Dominik",
  YEAR              = "2006",
  JOURNAL           = "IROS 2006, IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing/China, 9.-15. 10. 2006, pp. 3867-3872",
  HOWPUBLISHED      = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=waringo2006a}",
}

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ith.minimal.deviation.pdf
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