Towards higher order fairness functionals for smooth path planning
Towards higher order fairness functionals for smooth path planning
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DOI：
10.1145/3449726.3459430
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发表时间：
2021-07
期刊：
影响因子：
--
通讯作者：
V. Parque
中科院分区：
文献类型：
--
作者：
V. Parque
移动的和车辆导航的平稳性已经成为确保乘坐的安全性和舒适性的相关因素。机器人界已经能够渲染光滑的轨迹在移动的机器人通过使用非线性优化方法和著名的公平性度量考虑沿着path.In本文中，我们介绍了计算光滑路径的可能性从观察到的移动的机器人轨迹从高阶非线性公平泛函。我们的方法是潜在的，使生成简单和计算效率高的路径规划平滑导航移动的机器人。
Smoothness of mobile and vehicle navigation has become relevant to ensure the safety and the comfortability of riding. The robotics community has been able to render smooth trajectories in mobile robots by using non-linear optimization approaches and well-known fairness metrics considering the curvature variations along the path. In this paper, we introduce the possibility of computing smooth paths from observed mobile robot trajectories from higher order non-linear fairness functionals. Our approach is potential to enable the generation of simple and computationally-efficient path planning smoothing for navigation in mobile robots.