Research on the Method of Path Planning for Wheeled Mobile Robot Based on Quintic Hermite Interpolation
Zhu Cong-min · Journal of Xi'an University of Technology · 2009
The curvature obtained in terms of quintic Hermite polynomial is of the continuous characteristics,on the basis of which a novel approach to path planning for wheeled mobile robot is suggested.This approach is used to plan the path for wheeled mobile robot with front drive-steering wheel.The experimental results indicate that the path planning method suggested for the mobile robot can not only satisfy the requirement of position and posture by the robot arriving at the targets but also guarantee the continuity of its steering angle changes,whereby the real-time and accuracy of robot path tracking can be effectively improved.