Subdivision of point-normal pairs with application to smoothing feasible robot path

In a previous paper (Lipovetsky and Dyn in Comput Aided Geom Des 48:36–48, 2016), we introduced a weighted binary average of two 2D point-normal pairs, termed circle average , and investigated subdivision schemes based on it. These schemes refine point-normal pairs in 2D and converge to limit curves...

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Bibliographic Details
Published in:The Visual computer Vol. 38; no. 7; pp. 2271 - 2284
Main Author: Lipovetsky, Evgeny
Format: Journal Article
Language:English
Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.07.2022
Springer Nature B.V
Subjects:
Algorithms
Artificial Intelligence
Computer Graphics
Computer Science
Image Processing and Computer Vision
Original Article
Robots
Modified Lane–Riesenfeld algorithm
Robot path smoothing
Subdivision in the environment with obstacles
Subdivision of 2D point-normal pairs
2D curve design
Modified 4-point scheme
Bezier quasi-average
ISSN:0178-2789, 1432-2315
Online Access:Get full text
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Summary:In a previous paper (Lipovetsky and Dyn in Comput Aided Geom Des 48:36–48, 2016), we introduced a weighted binary average of two 2D point-normal pairs, termed circle average , and investigated subdivision schemes based on it. These schemes refine point-normal pairs in 2D and converge to limit curves and limit normals. Such a scheme has the disadvantage that the limit normals are not the normals of the limit curve. In this paper, we address this problem by proposing a new averaging method and obtaining a new family of algorithms based on it. We demonstrate their new editing capabilities and apply this subdivision technique to smooth a precomputed feasible polygonal point robot path.
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ISSN:0178-2789
1432-2315
DOI:10.1007/s00371-021-02110-9