Planning smooth paths for mobile robots in an unknown environment
- Авторы: Filaretov V.1, Yukhimets D.1
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Учреждения:
- Institute of Automation and Control Processes, Far Eastern Branch
- Выпуск: Том 56, № 4 (2017)
- Страницы: 738-748
- Раздел: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/219959
- DOI: https://doi.org/10.1134/S1064230717040098
- ID: 219959
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Аннотация
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.
Об авторах
V. Filaretov
Institute of Automation and Control Processes, Far Eastern Branch
Автор, ответственный за переписку.
Email: undim@iacp.dvo.ru
Россия, Vladivostok
D. Yukhimets
Institute of Automation and Control Processes, Far Eastern Branch
Email: undim@iacp.dvo.ru
Россия, Vladivostok
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