Publikationsdatenbank
Publication
Smoothing of Piecewise Linear PathsMichel Waringo , Dominik Henrich
Abstract (english)
We present an anytime-capable fast deterministic greedy algorithm for smoothing piecewise linear paths consisting of connected linear segments. With this method, path points with only a small influence on path geometry (i.e. aligned or nearly aligned points) are successively removed. Due to the removal of less important path points, the computational and memory requirements of the paths are reduced and traversing the path is accelerated. Our algorithm can be used in many different applications, e.g. sweeping, path finding, programming-by-demonstration in a virtual environment, or 6D CNC milling. The algorithm handles points with positional and orientational coordinates of arbitrary dimension.
Publication data
| Year: | 2008 |
| Publication date: | 01. June 2008 |
| Editor: | Mobile Robots Motion Planning, New Challenges, Xing-Jian Jing |
| Source: | I-Tech Education and Publishing, Vienna, 2008 |
| Project: | RONAF |
| Keywords (deutsch): | Robotik |
| Keywords (english): | discretization , motion planning , optimization methods , path planning , point-to-point , robot control , trajectory optimization |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=waringo2008a |
| Free text: | ISBN 978-953-7619-01-5, http://www.books.i-techonline.com/mrmp.html |
BibTeX
@MISC{waringo2008a,
TITLE = "Smoothing of Piecewise Linear Paths",
AUTHOR = "Waringo, Michel and Henrich, Dominik",
YEAR = "2008",
EDITOR = "Mobile Robots Motion Planning, New Challenges, Xing-Jian Jing",
JOURNAL = "I-Tech Education and Publishing, Vienna, 2008",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=waringo2008a}",
NOTE = "ISBN 978-953-7619-01-5, <a href="http://www.books.i-techonline.com/mrmp.html">http://www.books.i-techonline.com/mrmp.html</a>",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| waringo2008a.Smoothing.of.Piecewise.Linear.Paths.pdf | 1.6M | english | download preprint |