Navigation with Polytopes: A Toolbox for Optimal Path Planning with Polytope Maps and B-spline Curves

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-spl...

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Detalles Bibliográficos
Autores principales: Nguyen, Ngoc Thinh, Gangavarapu, Pranav Tej, Kompe, Niklas Fin, Schildbach, Georg, Ernst, Floris
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10099157/
https://www.ncbi.nlm.nih.gov/pubmed/37050593
http://dx.doi.org/10.3390/s23073532

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10099157/
https://www.ncbi.nlm.nih.gov/pubmed/37050593
http://dx.doi.org/10.3390/s23073532

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