By Topic

Improving RRT motion trajectories using VFM

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Garrido, S. ; Robot. Lab., Carlos III Univ., Leganes ; Blanco, D. ; Moreno, L. ; Martin, F.

This paper presents a new method to improve the trajectories based in the Voronoi fast marching method (VFM). It can be used to improve the smoothness and the length of the trajectories calculated with probabilistic methods with bad quality trajectories such as RRT or PRM. This way, it is possible to get the good properties of the RRT method as the fact that it can work in many dimensions with the good properties of VFM method. This method is very fast and reliable and the trajectories are similar to the human trajectories: smooth and not very close to obstacles and walls.

Published in:

Mechatronics, 2009. ICM 2009. IEEE International Conference on

Date of Conference:

14-17 April 2009