Spline Guided Path of a Mobile Robot with Obstacle Avoidance Characteristics
Debojit Biswas, Cardinal Spline · 2009
Path planning of a mobile robot is a wide field of research. Researchers in different places of the world have developed various techniques/algorithms for planning the movement of a mobile robot - online or offline. On line path planning is difficult than off line but when there is any obstacle appear on the path during movement in off line planning that obstacle avoidance is difficult. The developed off line path planning algorithm based on spline CURVE PATH FOLLOWING method, can be useful for offline planning and obstacle avoidance. The obstacle is treated as a static obstacle in 2D environment. The obstacles are detected by the mobile robot and avoid it smoothly. The method of path generation is continuous between any two successive control points.