2022/09/04 by Jon Arrizabalaga, Markus Ryll, Arrizabalaga, Jon +1 · 1 citation
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2209.01673
openalex publication_date 2022/09/04 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper presents a two-stage prediction-based control scheme for embedding the environment's geometric properties into a collision-free Pythagorean Hodograph spline, and subsequently finding the optimal path within the parameterized free space. The ingredients of this approach are twofold: First, we present a novel spatial path parameterization applicable to any arbitrary curve without prior assumptions in its adapted frame. Second, we identify the appropriateness of Pythagorean Hodograph curves for a compact and continuous definition of the path-parametric functions required by the presented spatial model. This dual-stage formulation results in a motion planning approach, where the geometric properties of the environment arise as states of the prediction model. Thus, the presented method is attractive for motion planning in dense environments. The efficacy of the approach is evaluated according to an illustrative example.