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Path shortening and smoothing of grid-based path planning with consideration of obstacles

By: Thompson, S.; Kuffner, J.J.; Kagami, S.; Kanehara, M.; Mizoguhi, H.;

2007 / IEEE / 978-1-4244-0990-7

Description

This item was taken from the IEEE Conference ' Path shortening and smoothing of grid-based path planning with consideration of obstacles ' This paper describes a path smoothing method that results in paths with clothoidal curvature and which includes a safety margin from obstacles. The method modifies grid based A* results, and tries to push the given path away from obstacles. A technique to take into account the initial direction of robot is also shown.