This paper presents a method and an algorithm for the planning of collision-free paths through obstacles for robots end-effectors or autonomously guided vehicles. Fifth-order nonperiodic B-spline curves are chosen for this purpose. The main ideas are twofold: first, to avoid collision by moving around obstacles from the less blocking sides; and second, to assign two control points to all vertices of the control polygon. This method guarantees the generation of paths which have C3 continuity everywhere and satisfy the collision-free requirement. In addition, the obstacles can be of any shape, and the computational complexity and difficulty are relatively low. A computer code is developed for the implementation of this method. Case studies are given for illustration.
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September 1993
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Collision-Free Path Planning by Using Nonperiodic B-Spline Curves
D. C. H. Yang
D. C. H. Yang
CADCAM/Automation Laboratory, Mechanical, Aerospace and Nuclear Engineering Department, University of California, Los Angeles, Los Angeles, CA 90024–1597
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D. C. H. Yang
CADCAM/Automation Laboratory, Mechanical, Aerospace and Nuclear Engineering Department, University of California, Los Angeles, Los Angeles, CA 90024–1597
J. Mech. Des. Sep 1993, 115(3): 679-684 (6 pages)
Published Online: September 1, 1993
Article history
Received:
March 1, 1991
Revised:
August 1, 1991
Online:
June 2, 2008
Citation
Yang, D. C. H. (September 1, 1993). "Collision-Free Path Planning by Using Nonperiodic B-Spline Curves." ASME. J. Mech. Des. September 1993; 115(3): 679–684. https://doi.org/10.1115/1.2919245
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