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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主要な著者:	Ngoc Thinh Nguyen, Pranav Tej Gangavarapu, Niklas Fin Kompe, Georg Schildbach, Floris Ernst
フォーマット:	Artigo
言語:	Inglês
出版事項:	MDPI AG 2023-03-01
シリーズ:	Sensors
主題:	path planner B-spline Bézier polytopes optimization navigation with polytopes toolbox
オンライン･アクセス:	https://www.mdpi.com/1424-8220/23/7/3532
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