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

Abstract

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.

Local Path Planning of Autonomous Vehicle Based on an Improved Heuristic Bi-RRT Algorithm in Dynamic Obstacle Avoidance Environment

“…As a result, the path is still not continuously differentiable such that it cannot be directly tracked by the vehicle. Thus, the obtained path should be further smoothed to make it be successfully tracked by the vehicle [ 40 ]. The cubic B-spline curve can move a control point to make the local modification without affecting the overall shape of the path and have a simple implementation and relatively low computational cost to ensure kinematic feasibility while avoiding an obstacle [ 41 ].…”

Path Planning of Multi-Objective Underwater Robot Based on Improved Sparrow Search Algorithm in Complex Marine Environment

“…To ensure the smooth turning of the path and avoid the physical constraints of the AUV, the B-spline curve is used to smooth the path. The method is characterized by overall global optimization, geometric invariance, continuity, symmetry, recursion, convexity preservation and microperformance [26]. Assuming that the AUV path is g…”

“…The pseudo-code of the algorithm is shown in Algorithm 1, and the flow chart is shown in Figure 2. ometric invariance, continuity, symmetry, recursion, convexity preservation and microperformance [26]. Assuming that the AUV path is…”

Mobile Robot Optimal Path Planning in the Configuration Spacebased on Smoothing A*

“…Of course, this is unsuitable for robots because the resulting path is not smooth. Therefore, A path smoothing approach is applied with a planner to produce a final smooth path for the robot to follow [27].…”