TY - JOUR
T1 - Subdivision of point-normal pairs with application to smoothing feasible robot path
AU - Lipovetsky, Evgeny
N1 - Publisher Copyright:
© 2021, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.
PY - 2022/7
Y1 - 2022/7
N2 - 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.
AB - 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.
KW - 2D curve design
KW - Bezier quasi-average
KW - Modified 4-point scheme
KW - Modified Lane–Riesenfeld algorithm
KW - Robot path smoothing
KW - Subdivision in the environment with obstacles
KW - Subdivision of 2D point-normal pairs
UR - http://www.scopus.com/inward/record.url?scp=85103924029&partnerID=8YFLogxK
U2 - 10.1007/s00371-021-02110-9
DO - 10.1007/s00371-021-02110-9
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AN - SCOPUS:85103924029
SN - 0178-2789
VL - 38
SP - 2271
EP - 2284
JO - Visual Computer
JF - Visual Computer
IS - 7
ER -