Local Path Planning for Nonholonomic Mobile Robots Based on Planar G2 Pythagorean Hodograph Degree 7 Bezier Transition Curves

Author:

Liang Jianjian1ORCID,Wang Shoukun1,Wang Bo2

Affiliation:

1. School of Automation, Beijing Institute of Technology, No. 5, Zhongguancun South Street, Beijing 100081, P. R. China

2. Systems Engineering Research Institute, China State Shipbuilding Corporation, Beijing 100094, P. R. China

Abstract

The paper proposes a method that joins two line segments using planar Pythagorean hodograph (PH) degree 7 Bezier transition curves. The objective is to make use of such curvature-continuous curves for the path planning of nonholonomic constrained vehicles moving in 2D space, which requires designing a smooth path while satisfying the constraint of minimum turning radius. We initially present a novel idea that employs PH degree 7 Bezier transition curves for dealing with curvature constraints, the result of which proves to be better than the traditional method based on the “forward simulation”. The properties of PH degree 7 Bezier transition curves are then fully analyzed showing that the curves can be determined by a minimum of three parameters, each of which has an intuitive geometric meaning. The paper also proposes a path planner with direct curvature constraints during the process of path generation in 2D space. The objective function of the optimal path generation can be adjusted to minimize the length of the whole path or to closely follow the original global nonsmooth sequences of line segments. Here, the optimization problem is tactfully converted to a linear programming problem that can be solved efficiently. Finally, we use a kinematic bicycle model for simulation and compare the results with those from Dubins path showing that a [Formula: see text] curve is easier to follow than a [Formula: see text] one.

Publisher

World Scientific Pub Co Pte Ltd

Subject

Control and Optimization,Aerospace Engineering,Automotive Engineering,Control and Systems Engineering

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. UAV-Based Search and Rescue System Using a Probability Distribution Map;2023 International Conference on Networking and Advanced Systems (ICNAS);2023-10-21

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