Planning smooth paths for mobile robots in an unknown environment
- Authors: Filaretov V.F.1, Yukhimets D.A.1
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Affiliations:
- Institute of Automation and Control Processes, Far Eastern Branch
- Issue: Vol 56, No 4 (2017)
- Pages: 738-748
- Section: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/219959
- DOI: https://doi.org/10.1134/S1064230717040098
- ID: 219959
Cite item
Abstract
This paper addresses the path planning problem for autonomous mobile robots operating in an unknown environment with obstacles. Paths are formed based on third-order Bezier splines and, then, are corrected on the move as a robot detects obstacles with its onboard sensors. During this correction, the initial path between two reference points is divided into two segments (described by Bezier splines) in such a way as to allow the robot to move at a safe distance from a detected obstacle along a smooth resultant trajectory. In this case, the use of smooth paths ensures a high levels of accuracy and velocity of mobile robots during their operation.
About the authors
V. F. Filaretov
Institute of Automation and Control Processes, Far Eastern Branch
Author for correspondence.
Email: undim@iacp.dvo.ru
Russian Federation, Vladivostok
D. A. Yukhimets
Institute of Automation and Control Processes, Far Eastern Branch
Email: undim@iacp.dvo.ru
Russian Federation, Vladivostok
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