Robot navigation is an indispensable component of any mobile service robot. Many path planning algorithms generate a path which has many sharp or angular turns. Such paths are not fit for mobile robot as it has to slow down at these sharp turns. These robots could be carrying delicate, dangerous, or precious items and executing these sharp turns may not be feasible kinematically. On the contrary, smooth trajectories are often desired for robot motion and must be generated while considering the static and dynamic obstacles and other constraints like feasible curvature, robot and lane dimensions, and speed. The aim of this paper is to succinctly summarize and review the path smoothing techniques in robot navigation and discuss the challenges and future trends. Both autonomous mobile robots and autonomous vehicles (outdoor robots or self-driving cars) are discussed. The state-of-the-art algorithms are broadly classified into different categories and each approach is introduced briefly with necessary background, merits, and drawbacks. Finally, the paper discusses the current and future challenges in optimal trajectory generation and smoothing research.
The FOREST Unbiased Galactic plane Imaging survey with the Nobeyama 45-m telescope (FUGIN) project is one of the legacy projects using the new multi-beam FOREST receiver installed on the Nobeyama 45-m telescope. This project aims to investigate the distribution, kinematics, and physical properties of both diffuse and dense molecular gas in the Galaxy at once by observing 12 CO, 13 CO, and C 18 O J = 1 − 0 lines simultaneously. The mapping regions are a part of the 1st quadrant (10• ) of the Galaxy, where spiral arms, bar structure, and the molecular gas ring are included. This survey achieves the highest angular resolution to date (∼20 ′′ ) for the Galactic plane survey in the CO J = 1 − 0 lines, which makes it possible to find dense clumps located farther away than the previous surveys. FUGIN will provide us with an invaluable dataset for investigating the physics of the galactic interstellar medium (ISM), particularly the evolution of interstellar gas covering galactic scale structures to the internal structures of giant molecular clouds, such as small filament/clump/core. We present an overview of the FUGIN project, observation plan, and initial results, which reveal wide-field and detailed structures of molecular clouds, such as entangled filaments that have not been obvious in previous surveys, and large-scale kinematics of molecular gas such as spiral arms.
Generating smooth and continuous paths for robots with collision avoidance, which avoid sharp turns, is an important problem in the context of autonomous robot navigation. This paper presents novel smooth hypocycloidal paths (SHP) for robot motion. It is integrated with collision-free and decoupled multi-robot path planning. An SHP diffuses (i.e., moves points along segments) the points of sharp turns in the global path of the map into nodes, which are used to generate smooth hypocycloidal curves that maintain a safe clearance in relation to the obstacles. These nodes are also used as safe points of retreat to avoid collision with other robots. The novel contributions of this work are as follows:(1) The proposed work is the first use of hypocycloid geometry to produce smooth and continuous paths for robot motion. A mathematical analysis of SHP generation in various scenarios is discussed. (2) The proposed work is also the first to consider the case of smooth and collision-free path generation for a load carrying robot. (3) Traditionally, path smoothing and collision avoidance have been addressed as separate problems. This work proposes integrated and decoupled collision-free multi-robot path planning. ‵Node caching‵ is proposed to improve efficiency. A decoupled approach with local communication enables the paths of robots to be dynamically changed. (4) A novel ‵multi-robot map update‵ in case of dynamic obstacles in the map is proposed, such that robots update other robots about the positions of dynamic obstacles in the map. A timestamp feature ensures that all the robots have the most updated map. Comparison between SHP and other path smoothing techniques and experimental results in real environments confirm that SHP can generate smooth paths for robots and avoid collision with other robots through local communication.
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