Sensors, Vol. 23, Pages 3532: Navigation with Polytopes: A Toolbox for Optimal Path Planning with Polytope Maps and B-spline Curves

Sensors, Vol. 23, Pages 3532: Navigation with Polytopes: A Toolbox for Optimal Path Planning with Polytope Maps and B-spline Curves
Sensors doi: 10.3390/s23073532
Authors:
Ngoc Thinh Nguyen
Pranav Tej Gangavarapu
Niklas Fin Kompe
Georg Schildbach
Floris Ernst

To deal with the problem of optimal path planning in 2D space, this paper introduces a new toolbox named “Navigation with Polytopes” and explains the algorithms behind it. The toolbox allows one to create a polytopic map from a standard grid map, search for an optimal corridor, and plan a safe B-spline reference path used for mobile robot navigation. Specifically, the B-spline path is converted into its equivalent Bézier representation via a novel calculation method in order to reduce the conservativeness of the constrained path planning problem. The conversion can handle the differences between the curve intervals and allows for efficient computation. Furthermore, two different constraint formulations used for enforcing a B-spline path to stay within the sequence of connected polytopes are proposed, one with a guaranteed solution. The toolbox was extensively validated through simulations and experiments.

Source: Sensors - March 28, 2023 Category: Biotechnology Authors: Ngoc Thinh Nguyen Pranav Tej Gangavarapu Niklas Fin Kompe Georg Schildbach Floris Ernst Tags: Article Source Type: research