Arne Sahrhage

Navigation with polytopes and B-spline path planner

This paper firstly presents our optimal path planning algorithm within a 2\mathrm{D}2\mathrm{D} non-convex, polytopic region defined as a sequence of connected convex polytopes. The path is a B-spline curve but being parametrized with its equivalent Bézier representation. By doing this, the local co…