Coverage Path Planning of Mobile Robots Using Rational Quadratic Bézier Spline

Khan, Amna; Noreen, Iram; Habib, Zulfiqar

doi:10.1109/fit.2016.065

Cited by 5 publications

(2 citation statements)

References 20 publications

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“…The method reduces the total coverage time, but at the expense of high computational complexity. Function-based smooth coverage planning methods generate paths represented by functions like clothoids [38] and Bézier curves [39,40]. Due to their smoothness, Bézier curves enable fast coverage and energy efficiency, but at the price of complex calculations.…”

Section: Related Workmentioning

confidence: 99%

Online Exploration and Coverage Planning in Unknown Obstacle-Cluttered Environments

Kan

Teng

Karydis

2020

Preprint

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Online coverage planning can be useful in applications like field monitoring and search and rescue. Without prior information of the environment, achieving resolutioncomplete coverage considering the non-holonomic mobility constraints in commonly-used vehicles (e.g., wheeled robots) remains a challenge. In this paper, we propose a hierarchical, hexdecomposition-based coverage planning algorithm for unknown, obstacle-cluttered environments. The proposed approach ensures resolution-complete coverage, can be tuned to achieve fast exploration, and plans smooth paths for Dubins vehicles to follow at constant velocity in real-time. Gazebo simulations and hardware experiments with a non-holonomic wheeled robot show that our approach can successfully tradeoff between coverage and exploration speed and can outperform existing online coverage algorithms in terms of total covered area or exploration speed according to how it is tuned.

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Section: Related Workmentioning

confidence: 99%

Online Exploration and Coverage Planning in Unknown Obstacle-Cluttered Environments

Kan

Teng

Karydis

2020

Preprint

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“…11: 2. Let the conditional control point P 1 be the end point (on the line segment with the control points P 0 and P 2 ) [22]; thus, it can be seen that:…”

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confidence: 99%

Necessary and Sufficient Conditions for Expressing Quadratic Rational Bézier Curves

Yang

Liu

et al. 2020

Front. Phys.

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Quadratic rational Bézier curve transformation is widely used in the field of computational geometry. In this paper, we offer several important characteristics of the quadratic rational Bézier curve. More precisely, on the basis of proving its monotonicity, the necessary and sufficient conditions for transforming a quadratic rational Bézier curve into a point, line segment, parabola, elliptic arc, circular arc, and hyperbola are proved, respectively.

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