Generic Path Planning Algorithm for Mobile Robots Based on Bézier Curves

作     者：Costanzi, Riccardo Fanelli, Francesco Meli, Enrico Ridolfi, Alessandro Allotta, Benedetto 

作者机构： Via di Santa Marta 3 Florence50139 Italy 

出 版 物：《IFAC-PapersOnLine》 

年 卷 期：2016年第49卷第15期

页      面：145-150页

核心收录：

基　　金：This work has been partially supported by the European projects ARROWS (http://www.arrowsproject.eu)  that has received funding from the European Union’s Seventh Framework Programme for research  technological development and demonstration under grant agreement no 308724  and BRUCE  that has received funding from the European Union’s Seventh Framework Programme within "SUNRISE - Open Call 2 for new beneficiaries"  under grant agreement no 611449  and by the SUONO project (Safe Underwater Operations iN Oceans)  SCN 00306  ranked first in the challenge on "Sea Technologies" of the competitive call named "Smart Cities and Communities" issued by the Italian Ministry of Education and Researchffi 

主　　题：Motion planning Air navigation Mobile robots Robot programming Robotics Autonomous navigation Direct search methods Objective functions Optimal trajectories Path planning algorithm Performance indices Planning strategies Waypoints 

摘      要：The availability of an efficient and reliable path planning strategy is a great benefit to mobile robots. Being able to intelligently connect a series of waypoints is a crucial requirement for the execution of autonomous navigation tasks. Several performance indices can be used to evaluate the goodness of a path, including its length and smoothness. In this paper, the authors focus on planar path planning for mobile robots; Bézier curves are employed, optimizing the computed path with respect to length and curvature, the latter used as a measure of smoothness. Due to the complexity of the objective function, optimization is performed by means of a direct search method. The proposed approach aims at generating paths offering advantages to mobile robots navigation in terms of controllability and reducing the related power consumption. The performed tests show that the presented method allows to achieve interesting results, suggesting its viability as a suitable path planning strategy for different kinds of mobile robots. © 2016