A Collision-Free G2 Continuous Path-Smoothing Algorithm Using Quadratic Polynomial Interpolation:

International Journal of Advanced Robotic Systems

Seong-RyongChang¹ 

关键词: Continuous path;    Function approximation;    Interpolation;    Path planning;    Path smoothing Robot motion;    Smoothing algorithm;    Smooth path;    Vehicle navigation;   

DOI  :  10.5772/59463

学科分类：自动化工程

来源: InTech

【 摘 要 】

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 G2 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.

【 授权许可】

CC BY