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arXiv · 1908.09913

Subdivision of point-normal pairs with application to smoothing feasible robot path

Evgeny Lipovetsky
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Abstract

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.

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Evgeny Lipovetsky. 2019-12-04. Subdivision of point-normal pairs with application to smoothing feasible robot path. https://arxiv.org/abs/1908.09913

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