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Path Planning for Continuous-curvature Avoidance using Hierarchical Four Parameter Logistic Curves
- Source :
- SMC
- Publication Year :
- 2020
- Publisher :
- IEEE, 2020.
-
Abstract
- Robots are widely used as unmanned vehicles in smart factories. In order to operate the robot in a known environment, the robot must be able to plan the path. The planned path must enable the robot to reach a destination from the starting point and the robot must avoid all obstacles during movement.This study uses a four-parameter logic curve path planning method that uses a closed formula solution and a curve with minimal design parameters to quickly generate an ideal path. The characteristics of the curve are used to derive the S and half-S curves as the solution path. The shortest path is used as the selection reference target to select parameters B and C for the four-parameter logic curve. For the S path, the best solution is chosen. The half -S curve is limited by the elastic end-point heading angle, which gives a unique set of parameter solutions. The generated path does not allow the robot to completely avoid obstacles so a hierarchical half-S curve path planning mechanism is used. A via point is generated at the collision point using the gradient vector for the edge of the obstacle. The planner continues to perform half-S path planning until the path planning ends.
- Subjects :
- 0209 industrial biotechnology
Computer science
02 engineering and technology
Collision
Curvature
Computer Science::Robotics
020901 industrial engineering & automation
Control theory
Obstacle
Obstacle avoidance
Path (graph theory)
Shortest path problem
0202 electrical engineering, electronic engineering, information engineering
Robot
020201 artificial intelligence & image processing
Point (geometry)
Motion planning
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
- Accession number :
- edsair.doi...........5f433160ee8d127f0799a3fbfc3af4c2