Real-Time Spline Trajectory Creation and Optimization for Mobile Robots
Sašo Koceski, Nataša Koceska, Pierluigi Beomonte Zobel, Francesco Durante · Goce Delchev University Repository (Goce Delčev University of Štip) · 2009
In the field of mobile robotics, calculating suitable paths, for point to point navigation, is computationally difficult. Maneuvering the vehicle safely around obstacles is essential, and the ability to generate safe paths in a real time environment is crucial for vehicle viability. A method for developing feasible paths through complicated environments using a baseline smooth path based on Hermite cubic splines is presented. A method able to iteratively optimize the path is also presented. This algorithm has been experimentally evaluated with satisfactory results.