The Study on Path Smoothing of Nonholonomic Mobile Robot
Fang Qing-guan · Mechanical Engineer · 2007
The work investigates the path smoothing problem of nonholonomic mobile robot.The traditional path planning study usually considered only a certain performance parameters,such as the shortest path,the least running time,and so on.There may be some points whose curvatures are discontinuous in the paths,and can not be used for the mobile robot path tracking directly.This paper designed the transitional curve with cubic spiral based on the minimum turning radius constraint and non-slipping nonholonomic kinematic constraint of mobile robot.The amendment not only ensured that the curvature continuous of the transition points was continuous,but also approximated the original path.Finally,numerical simulations were performed using Matlab to illustrate the effectiveness of the proposed planning method.