点と法線の組の細分割による実行可能なロボット経路の平滑化
Subdivision of point-normal pairs with application to smoothing feasible robot path
2Dの点と法線の組を平均化する新しい手法を提案し、細分割により極限曲線の法線が正しく得られるアルゴリズムを構築した。これを事前計算された実行可能な多角形ロボット経路の平滑化に応用した。
分類: cs.GR, cs.RO
原文アブストラクト
In a previous paper [11] 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 solve 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.