2P2-E09 Path smoothing technique for a mobile robot path planning, and its comparison whit Field A*
Masatomo Kanehara, Satoshi Kagami, James Kuher, Hiroshi Mizoguchi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2006
In a path planning for a mobile robot to move smoothly, We suggest the technique that smoothes off a path while sampling two points from the path that they generated by A* at random.The smoothed path is not restricted by a grid. In addition, We compare existing Field A* with suggestion technique. And We could confirm suggestion technique superior to FieldA* on simulation and understood what movement could move than A* in an experiment smoothly.