Smoothing path of a robot
I'm calculating shortest path of a robot on a plane with polygonal obstacles. Everything works well and fast, no problems there. But, how to smoothen the path so it becomes curvy ? Below is a picture of a path connecting vertices with a straight line. P.S Robot is just a circle.
This paper might be useful. It looks like it's a non-trivial problem. Abstract:
Automatic graph drawers need to compute paths among ver- tices of a simple polygon which besides remaining in the interior need to exhibit certain aesthetic properties. Some of these require the incorpo- ration of some information about the polygonal shape without being too far from the actual shortest path. We present an algorithm to compute a locally convex region that “contains” the shortest Euclidean path among two vertices of a simple polygon. The region has a boundary shape that “follows” the shortest path shape. A cubic Bezier spline in the region in- terior provides a “short and smooth” collision free curve between the two given vertices. The obtained results appear to be aesthetically pleasant and the methods used may be of independent interest. They are elemen- tary and implementable. Figure 7 is a sample output produced by our current implementation.
- Draw perpendicular line of fixed length at a point of another line
- How to Expand a Polygon Until One of the Borders Reaches a Point
- How to calculate the angle from a point to midpoint of a line?
- Compute the area of intersection between a circle and a triangle?
- x not aligned with the geometric form
- How to do a scatter plot with empty circles in Python?
- What is the unit of radius in google maps flutter
- Code for inverse sin, cos and tan
- Simple way to interpolate between points in 3D space to form a smooth surface
- How do you calculate the average of a set of circular data?
- Which Shapely predicate should be used to distinquish between these LinearRings
- Determine if two rectangles overlap each other?
- barycentric coordinate clamping on 3d triangle
- How do CSS triangles work?
- How to find the center of circle using the least square fit in python?
- fast algorithm for drawing filled circles?
- how do I convert from one cartesian system to another
- data.frame to array (2 columns)
- Path stroke algorithm (convert to triangles/quads) or other suggestions
- locating a point in a 2d image that was warped
- Efficiently Finding Nearest Non-Colliding Position for a Rectangle in 2D Space?
- How to calculate offset on collision between two rectangles based on their relative positions?
- Boost.Voronoi generates incorrect Voronoi cells with floating-point input in C++
- Simple way to draw shapes in C++?
- sum each value in a list to all previous values including extra value between them
- How to tell real particles from clusters in C++
- Finding rectangles enclosing points
- A way to fit circles on 3D data
- Tracing edges of pixels in a mask
- Is it possible to divide points to regions only based on their minimum distance to region-dividing curves?