REAL-TIME TRAJECTORY MODIFICATION BASED ON BÉZIER SHAPE DEFORMATION

L. Hilario, N. Montés, M. C. Mora, A. Falcó

Abstract

This paper presents a new technique for flexible path planning based on the deformation of a Bézier curve through a field of vectors. This new technique is called Bézier Shape Deformation (BSD). This deformation is computed with a constrained optimization method (Lagrange Multipliers Theorem). The main advantage of this method is how the solution is obtained. A linear system is solved to achieve the result. As a consequence, the deformed curve is computed in a few milliseconds where the linear system can be solved offline if the Bézier curve order is maintained constant during the movement of the robot. This method allows the use of these trajectories in dynamic environments where the computational cost is critical. This technique can be combined with any collision avoidance algorithm that produces a field of vectors. In particular, it is appropriate for artificial potential field methods. At the end of the paper, the presented methodology is combined with an artificial potential fields algorithm recently proposed, the Potential Field Projection method (PFP). This method is based on the combination of the classical Potential Fields method and the multi-rate Kalman filter estimation and takes into account the uncertainties on locations, the future trajectory of the robot and the obstacles and the multi-rate information supplied by sensors. As shown in the simulation results, flexible trajectories for collision avoidance are generated with smooth curves.

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Paper Citation


in Harvard Style

Hilario L., Montés N., Mora M. and Falcó A. (2010). REAL-TIME TRAJECTORY MODIFICATION BASED ON BÉZIER SHAPE DEFORMATION . In Proceedings of the International Conference on Evolutionary Computation - Volume 1: ICEC, (IJCCI 2010) ISBN 978-989-8425-31-7, pages 243-248. DOI: 10.5220/0003086002430248


in Bibtex Style

@conference{icec10,
author={L. Hilario and N. Montés and M. C. Mora and A. Falcó},
title={REAL-TIME TRAJECTORY MODIFICATION BASED ON BÉZIER SHAPE DEFORMATION },
booktitle={Proceedings of the International Conference on Evolutionary Computation - Volume 1: ICEC, (IJCCI 2010)},
year={2010},
pages={243-248},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003086002430248},
isbn={978-989-8425-31-7},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Evolutionary Computation - Volume 1: ICEC, (IJCCI 2010)
TI - REAL-TIME TRAJECTORY MODIFICATION BASED ON BÉZIER SHAPE DEFORMATION
SN - 978-989-8425-31-7
AU - Hilario L.
AU - Montés N.
AU - Mora M.
AU - Falcó A.
PY - 2010
SP - 243
EP - 248
DO - 10.5220/0003086002430248