OBSTACLES AVOIDANCE IN THE FRAME WORK OF PYTHAGOREAN HODOGRAPH BASED PATH PLANNING.

M. A. Shah, A. Tsourdos, P. M. G. Silson, D. James, N. Aouf

Abstract

This paper deals with the problem of obstacle avoidance in the path planning based on Pythagorean Hodograph. The proposed obstacle avoidance approach is based on changing the curvature in case of Pythagorean Hodograph curves. However this may result in an increase in the length of the path. Furthermore in some cases obstacle avoidance by changing the curvature of the path may result not only in an increase in path length but also to a tremendous increase in bending energy. An increase in bending energy of a path as a result of curvature change above certain limit makes the path very difficult or impossible to fly.

References

  1. S. Madhavan, A. Tsourdos, B. White. “A Solution to Simultaneous Arrival of Multiple UAVs using Pythagorean Hodograph” American Control Conference, Minnesota USA, June 2006.
  2. H. Bruyninckx, D. Reynaerts, “Path planning for mobile and hyper redundant robots using Pythagorean hodograph curves”, In 8th International Conference on Advanced Robotics, ICAR, 97 pages 595-600, 1997.
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Paper Citation


in Harvard Style

Shah M., Tsourdos A., M. G. Silson P., James D. and Aouf N. (2010). OBSTACLES AVOIDANCE IN THE FRAME WORK OF PYTHAGOREAN HODOGRAPH BASED PATH PLANNING. . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 335-339. DOI: 10.5220/0002877803350339


in Bibtex Style

@conference{icinco10,
author={M. A. Shah and A. Tsourdos and P. M. G. Silson and D. James and N. Aouf},
title={OBSTACLES AVOIDANCE IN THE FRAME WORK OF PYTHAGOREAN HODOGRAPH BASED PATH PLANNING.},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={335-339},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002877803350339},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - OBSTACLES AVOIDANCE IN THE FRAME WORK OF PYTHAGOREAN HODOGRAPH BASED PATH PLANNING.
SN - 978-989-8425-01-0
AU - Shah M.
AU - Tsourdos A.
AU - M. G. Silson P.
AU - James D.
AU - Aouf N.
PY - 2010
SP - 335
EP - 339
DO - 10.5220/0002877803350339