@inbook{a114eb738ae84ef4b0692c84482e6c24,
title = "Path Quality Improvement of Sampling-Based Planners: An Efficient Optimization-Based Approach Using Analytical Gradients",
abstract = "Modern collaborative robotic applications require feasible robot motions that are predictable for human coworkers. We propose two path post-processing modules based on nonlinear optimization to improve path quality: the Path Length Post-Processor (PLPP) minimizes the path length; the Path Smoothness Post-Processor (PSPP) improves the path smoothness. Both keep a clearance to obstacles. We derive the analytical gradients of the optimization problem for computational efficiency and we validate our approaches in simulation.",
author = "Jonas Wittmann and Corina Klein and Daniel Rixen",
note = "Publisher Copyright: {\textcopyright} 2022, CISM International Centre for Mechanical Sciences.",
year = "2022",
doi = "10.1007/978-3-031-06409-8_19",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "182--190",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
}