Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

Complexity - Tập 2018 Số 1 - 2018
Peng Cui1,2, Weisheng Yan1,2, Rongxin Cui1,2, Jiahui Yu3
1Research & Development Institute of Northwestern Polytechnical University in Shenzhen, Shenzhen, Guangdong 518057
2School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, Shaanxi 710072
3School of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang, Liaoning 110159

Tóm tắt

This paper presents an integrated approach to plan smooth path for robots docking in unknown environments with obstacles. To determine the smooth collision‐free path in obstacle environment, a tree structure with heuristic expanding strategy is designed as the foundation of path planning in this approach. The tree employs 3D Dubins curves as its branches and foundation for path feasibility evaluation. For the efficiency of the tree expanding in obstacle environment, intermediate nodes and collision‐free branches are determined inspired by the elastic band theory. A feasible path is chosen as the shortest series of branches that connects to the docking station after the sufficient expansion of the tree. Simulation results are presented to show the validity and feasibility of the proposed approach.

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Complexity

Tập 2018 Số 1

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