Journal
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
Volume 11, Issue -, Pages -Publisher
INTECH EUROPE
DOI: 10.5772/59463
Keywords
Continuous path; Function approximation; Interpolation; Path planning; Path smoothing; Robot motion; Smoothing algorithm; Smooth path; Vehicle navigation
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Funding
- National Research Foundation of Korea (NRF) - Korea government (MEST) [2012-0005564]
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Most path-planning algorithms are used to obtain a collision-free path without considering continuity. On the other hand, a continuous path is needed for stable movement. In this paper, the searched path was converted into a G(2) continuous path using the modified quadratic polynomial and membership function interpolation algorithm. It is simple, unique and provides a good geometric interpretation. In addition, a collision-checking and improvement algorithm is proposed. The collision-checking algorithm can check the collisions of a smoothed path. If collisions are detected, the collision improvement algorithm modifies the collision path to a collision-free path. The collision improvement algorithm uses a geometric method. This method uses the perpendicular line between a collision position and the collision piecewise linear path. The sub-waypoint is added, and the QPMI algorithm is applied again. As a result, the collision-smoothed path is converted into a collision-free smooth path without changing the continuity.
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