- Volume 59 Issue 4
DOI QR Code
Smooth Path Planning Method for Autonomous Mobile Robots Using Cardinal Spline
카디널스플라인을 이용한 자율이동로봇의 곡선경로 생성방법
- Received : 2009.09.29
- Accepted : 2010.02.03
- Published : 2010.04.01
We propose a smooth path planning method for autonomous mobile robots. Due to nonholonomic constraints by obstacle avoidance, the smooth path planning is a complicated one. We generate smooth path that is considered orientation of robot under nonholonomic constraints. The proposed smooth planning method consists of two steps. Firstly, the initial path composed of straight lines is obtained from V-graph by Dijkstra's algorithm. Then the initial path is transformed by changing the curve. We apply the cardinal spline into the stage of curve generation. Simulation results show a performance of proposed smooth path planning method.
Smooth path planning;Autonomous mobile robots;Cardinal Spline
Supported by : 충남대학교
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