Journal
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
Volume 18, Issue 4, Pages -Publisher
SAGE PUBLICATIONS INC
DOI: 10.1177/17298814211019220
Keywords
Motion planning; pathfinding; trajectory generation; jump point search; Bezier curves
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Funding
- Natural Science Foundation of the Jiangsu Higher Education Institutions of China [18KJD510008]
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This article introduces a novel path planning algorithm based on jump point search and Bezier curves, with an optimized heuristic function in the front end and trajectory generation using Bezier curves and straight lines in the back end. Experimental results demonstrate that the algorithm can achieve optimal trajectory planning for robot navigation.
Innovative applications in rapidly evolving domains such as robotic navigation and autonomous (driverless) vehicles rely on motion planning systems that meet the shortest path and obstacle avoidance requirements. This article proposes a novel path planning algorithm based on jump point search and Bezier curves. The proposed algorithm consists of two main steps. In the front end, the improved heuristic function based on distance and direction is used to reduce the cost, and the redundant turning points are trimmed. In the back end, a novel trajectory generation method based on Bezier curves and a straight line is proposed. Our experimental results indicate that the proposed algorithm provides a complete motion planning solution from the front end to the back end, which can realize an optimal trajectory from the initial point to the target point used for robot navigation.
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