Path Planning for Continuous-curvature Avoidance using Hierarchical Four Parameter Logistic Curves
Yuan-Ting Fu, Chih-Ming Hsu, Zeyu Chen, Jen-Hsiang Chou · 2020
Robots are widely used as unmanned vehicles in smart factories. In order to operate the robot in a known environment, the robot must be able to plan the path. The planned path must enable the robot to reach a destination from the starting point and the robot must avoid all obstacles during movement. This study uses a four-parameter logic curve path planning method that uses a closed formula solution and a curve with minimal design parameters to quickly generate an ideal path. The characteristics of the curve are used to derive the S and half-S curves as the solution path. The shortest path is used as the selection reference target to select parameters B and C for the four-parameter logic curve. For the S path, the best solution is chosen. The half -S curve is limited by the elastic end-point heading angle, which gives a unique set of parameter solutions. The generated path does not allow the robot to completely avoid obstacles so a hierarchical half-S curve path planning mechanism is used. A via point is generated at the collision point using the gradient vector for the edge of the obstacle. The planner continues to perform half-S path planning until the path planning ends.