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Authors: M. A. Shah ; A. Tsourdos ; P. M. G. Silson ; D. James and N. Aouf

Affiliation: Cranfield University, United Kingdom

Keyword(s): Pythagorean Hodograph, Bending energy, Path Planning, Feasible paths.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

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.

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Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 335-339. DOI: 10.5220/0002877803350339

@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},
issn={2184-2809},
}

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
IS - 2184-2809
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
PB - SciTePress

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