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dc.contributor.authorLadino, I.
dc.contributor.authorPenagos, O.
dc.contributor.authorSáenz-Cabezas, B.
dc.contributor.authorPastrana, Y.
dc.identifier.citationLadino I., Penagos O., Sáenz-Cabezas B., Pastrana Y. (2020) Smoothing of Robotic Navigation Trajectories, Based on a Tessellation Generated Weighted Skeleton, Based on Wavefront Dilation and Collisions. In: Figueroa-García J.C., Garay-Rairán F.S., Hernández-Pérez G.J., Díaz-Gutierrez Y. (eds) Applied Computer Sciences in Engineering. WEA 2020. Communications in Computer and Information Science, vol 1274. Springer, Cham.
dc.description.abstractDiscretization processes adapted to robotic configuration spaces designed to limit the possible positions and movements of a robot in a continuous environment, have been based mainly on four methods for robotic motion planning: potential fields based, cell decomposition, roadmaps and sampling. However, these methods are not suitable for finding smooth routes through obstacles, and at he same time, avoiding collisions and taking into account the dimensions of the robot. This work proposes a new tessellation method using Bézier curves, which facilitates drawing of smooth curves while respecting restrictions imposed by the environment. The method takes into account the dimensions of the robot and, through a vector description of the configuration space, it constructs a skeleton of the configuration space between obstacles, where each point of the skeleton, in addition to having information on its coordinate, includes information about the transverse distance between objects at each point of the
dc.sourceApplied Computer Sciences in Engineering. WEA 2020. Communications in Computer and Information Science, vol 1274spa
dc.titleSmoothing of Robotic Navigation Trajectories, Based on a Tessellation Generated Weighted Skeleton, Based on Wavefront Dilation and Collisionsspa
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dc.subject.keywordsVoronoi diagramsspa
dc.subject.keywordsBezier curvesspa
dc.identifier.instnameUniversidad Tecnológica de Bolívarspa
dc.identifier.reponameRepositorio Universidad Tecnológica de Bolívarspa
dc.publisher.placeCartagena de Indiasspa
dc.audiencePúblico generalspa

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Universidad Tecnológica de Bolívar - 2017 Institución de Educación Superior sujeta a inspección y vigilancia por el Ministerio de Educación Nacional. Resolución No 961 del 26 de octubre de 1970 a través de la cual la Gobernación de Bolívar otorga la Personería Jurídica a la Universidad Tecnológica de Bolívar.