A Review of Path Smoothness Approaches for Non-holonomic Mobile Robots

Noreen, Iram; Khan, Amna; Habib, Zulfiqar

doi:10.1007/978-3-030-01177-2_25

Cited by 2 publications

(6 citation statements)

References 32 publications

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“…Smooth path generation for mobile robots is usually accomplished by either of the two approaches, each having its own advantages and disadvantages. The first approach applies a kinematic constraint model during the path planning phase [12,13,15,19]. However, non-holonomic constraints require the addition of a robot's orientation to state vector of planner.…”

Section: Related Workmentioning

confidence: 99%

“…Recently, Mitsubishi Electric Research Laboratories generated a linear piecewise path for semi-autonomous vehicles [29] using RRT* [24] and later applied post-processing smoothing to generate a G 2 continuous smooth path to meet differential constraints of robotic vehicles. Parametric curves such as Bézier and Splines have been widely used for post-processing path smoothing approaches [12,19,26]. Yang et al introduced Bézier based smoothing techniques [21][22][23][24] and generated a G 2 continuous path [21,22].…”

Section: Related Workmentioning

confidence: 99%

“…Non-smooth path restricts robot's motion with constant speed and causes deceleration followed by reorientation at turns. Consequently, a robot requires more energy [11,12] to follow the trajectory due to a lack of smoothness in the planner generated planned path. Trajectory tracking algorithms [13] are used to provide output velocity and steering commands to follow a planned path.…”

Section: Introductionmentioning

confidence: 99%

“…Mostly path planners such as Memory Efficient A* (MEA*), Rapidly exploring Random Tree Star-Adjustable Bounds (RRT*-AB) [15,[17][18][19] generate linear piecewise path which is not feasible for robots due to lack of smoothness [12,20]. Path smoothing approaches are applied with planners to generate a final smooth path for a robot to follow.…”

Section: Introductionmentioning

confidence: 99%

“…Secondly, they generate longer paths with deviation from originally planned paths and they use a large number of control points. Furthermore, the generation of knot vector for the B-Spline curve is not automated [12] and intuitive, which is not ideal for real-time application. We have proposed a clamped cubic B-Spline based path smoothing approach.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Collision Free Smooth Path for Mobile Robots in Cluttered Environment Using an Economical Clamped Cubic B-Spline

Noreen

2020

Symmetry

Self Cite

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Mobile robots have various applications in agriculture, autonomous cars, industrial automation, planetary exploration, security, and surveillance. The generation of the optimal smooth path is a significant aspect of mobile robotics. An optimal path for a mobile robot is measured by various factors such as path length, path smoothness, collision-free curve, execution time, and the total number of turns. However, most of the planners generate a non-smooth less optimal and linear piecewise path. Post processing smoothing is applied at the cost of increase in path length. Moreover, current research on post-processing path smoothing techniques does not address the issues of post smoothness collision and performance efficiency. This paper presents a path smoothing approach based on clamped cubic B-Spline to resolve the aforementioned issues. The proposed approach has introduced an economical point insertion scheme with automated knot vector generation while eliminating post smoothness collisions with obstacles. It generates C2 continuous path without any stitching point and passes more closely to the originally planned path. Experiments and comparison with previous approaches have shown that the proposed approach generates better results with reduced path length, and execution time. The test cases used for experiments include a simple structure environment, complex un-structured environment, an environment full of random cluttered narrow obstacles, and a case study of an indoor narrow passage.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Collision Free Smooth Path for Mobile Robots in Cluttered Environment Using an Economical Clamped Cubic B-Spline

Noreen

2020

Symmetry

Self Cite

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Laser Ablation Manipulator Coverage Path Planning Method Based on an Improved Ant Colony Algorithm

Luo

Hou

et al. 2020

Applied Sciences

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Coverage path planning on a complex free-form surface is a representative problem that has been steadily investigated in path planning and automatic control. However, most methods do not consider many optimisation conditions and cannot deal with complex surfaces, closed surfaces, and the intersection of multiple surfaces. In this study, a novel and efficient coverage path-planning method is proposed that considers trajectory optimisation information and uses point cloud data for environmental modelling. First, the point cloud data are denoised and simplified. Then, the path points are converted into the rotation angle of each joint of the manipulator. A mathematical model dedicated to energy consumption, processing time, and path smoothness as optimisation objectives is developed, and an improved ant colony algorithm is used to solve this problem. Two measures are proposed to prevent the algorithm from being trapped in a local optimum, thereby improving the global search ability of the algorithm. The standard test results indicate that the improved algorithm performs better than the ant colony algorithm and the max–min ant system. The numerical simulation results reveal that compared with the point cloud slicing technique, the proposed method can obtain a more efficient path. The laser ablation de-rusting experiment results specify the utility of the proposed approach.

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A Review of Path Smoothness Approaches for Non-holonomic Mobile Robots

Cited by 2 publications

References 32 publications

Collision Free Smooth Path for Mobile Robots in Cluttered Environment Using an Economical Clamped Cubic B-Spline

Collision Free Smooth Path for Mobile Robots in Cluttered Environment Using an Economical Clamped Cubic B-Spline

Laser Ablation Manipulator Coverage Path Planning Method Based on an Improved Ant Colony Algorithm

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