Robot motion planning in a dynamic environment using offset Non-Uniform Rational B-Splines (NURBS)

Singh, Aditya; Aggarwal, Anuj; Vashisht, Manik; Siddavatam, Rajesh

doi:10.1109/icit.2011.5754393

Cited by 9 publications

(6 citation statements)

References 14 publications

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“…As for the methods [3,7,8,9,10,11,12], the proposed method is distinguished by the use of modelling with NURBS curves, which are much more flexible than other smoothing techniques, coupled with the fact that NURBS algorithms are fast and numerically stable. Moreover, our method uses varied values for the weight parameter, unlike many existing path planning methods that use NURBS curves, such as [13,27], where all weights of control points are set at one. In [14], the weight factors associated with the nodes of the S-Roadmap are equal to three and, in this manner, it is possible to control the distance of the robot from the nodes.…”

Section: Discussionmentioning

confidence: 99%

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A New Path Generation Algorithm Based on Accurate NURBS Curves

Jalel

Marthon

Hamouda

2016

International Journal of Advanced Robotic Systems

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The process of finding an optimum, smooth and feasible global path for mobile robot navigation usually involves determining the shortest polyline path, which will be subsequently smoothed to satisfy the requirements. Within this context, this paper deals with a novel roadmap algorithm for generating an optimal path in terms of NonUniform Rational B-Splines (NURBS) curves. The generated path is well constrained within the curvature limit by exploiting the influence of the weight parameter of NURBS and/or the control points' locations. The novelty of this paper lies in the fact that NURBS curves are not used only as a means of smoothing, but they are also involved in meeting the system's constraints via a suitable parameterization of the weights and locations of control points. The accurate parameterization of weights allows for a greater benefit to be derived from the influence and geometrical effect of this factor, which has not been well investigated in previous works. The effectiveness of the proposed algorithm is demonstrated through extensive MATLAB computer simulations.

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Section: Discussionmentioning

confidence: 99%

“…NURBS have a broad range of applications in various domains, but a limited use in robotics. Recently, Siddavatam et al [13] have developed a new method of robot motion planning in a dynamic environment using offset NURBS. Their methodology, used to obtain the optimal shortest path, can be further subdivided into levels.…”

Section: Introductionmentioning

confidence: 99%

A New Path Generation Algorithm Based on Accurate NURBS Curves

Jalel

Marthon

Hamouda

2016

International Journal of Advanced Robotic Systems

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“…More recently, in [9][10][11][12] a predefined NURBS curve is used to improve its properties adjusting the weights.…”

Section: Trajectories Of Mobile Robots Defined By Nurbsmentioning

confidence: 99%

“…The time intervals corresponding to each curve, respectively, are [0,1.33], [1. 33,3], [3,5], [5,7], [7,9], [9,11], [11,12.66], [12.66,14]. The representation of the resampling for the concatenation of eight Bézier curves is represented in Figure 3(b).…”

Section: Advanced Path Planning For Mobile Entitiesmentioning

confidence: 99%

Path Planning Based on Parametric Curves

Pérez¹,

Aguilar²,

MontésSánchez³

et al. 2018

Advanced Path Planning for Mobile Entities

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Parametric curves are extensively used in engineering. The most commonly used parametric curves are, Bézier, B-splines, (NURBSs), and rational Bézier. Each and every one of them has special features, being the main difference between them the complexity of their mathematical definition. While Bézier curves are the simplest ones, B-splines or NURBSs are more complex. In mobile robotics, two main problems have been addressed with parametric curves. The first one is the definition of an initial trajectory for a mobile robot from a start location to a goal. The path has to be a continuous curve, smooth and easy to manipulate, and the properties of the parametric curves meet these requirements. The second one is the modification of the initial trajectory in real time attending to the dynamic properties of the environment. Parametric curves are capable of enhancing the trajectories produced by path planning algorithms adapting them to the kinematic properties of the robot. In order to avoid obstacles, the shape modification of parametric curves is required. In this chapter, an algorithm is proposed for computing an initial Bézier trajectory of a mobile robot and subsequently modifies it in real time in order to avoid obstacles in a dynamic environment.

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“…Some studies on robot trajectory generation have employed NURBS curves [32][33][34][35][36][37][38][39][40][41]. For instance, Steuben et al [32] implied the NURBS curves for trajectory generation of a robot.…”

Section: Introductionmentioning

confidence: 99%

A Novel Trajectory Planning Scheme for Parallel Machining Robots Enhanced with NURBS Curves

Jahanpour

Motallebi

Porghoveh

2015

J Intell Robot Syst

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In this paper, a CAD-based trajectory planning scheme for parallel machining robots is introduced using the parametric Non-uniform rational basis spline (NURBS) curves. First, a trajectory is designed via a NURBS curve then, a motion scheduling architecture consisting of time-dependent and constant feedrate profiles is advised to generate the position commands on the represented NURBS curve as the tool path. Using the generated commands, the inverse kinematics is elaborated to obtain the joints motions of the parallel machining robot. This paper investigates the NURBS trajectory generation for a parallel robot with 4(UPS)-PU mechanism as the case study. In order to evaluate the effectiveness of the proposed method, the inverse kinematic results for the parallel machining robot of 4(UPS)-PU is compared with the simulation results obtained from the CATIA software. The results confirmed that the proposed trajectory planning scheme along with the advised motion planning architecture is not only feasible for the parallel machining robots but also yields a smooth trajectory with a satisfactory performance for all the joints.

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Robot motion planning in a dynamic environment using offset Non-Uniform Rational B-Splines (NURBS)

Cited by 9 publications

References 14 publications

A New Path Generation Algorithm Based on Accurate NURBS Curves

A New Path Generation Algorithm Based on Accurate NURBS Curves

Path Planning Based on Parametric Curves

A Novel Trajectory Planning Scheme for Parallel Machining Robots Enhanced with NURBS Curves

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