Warehouse Path Planning Using Low-order Bézier Curves with Minimum-Time Optimization*
Sašo Blažič, Gregor Klančar, Martina Benko Loknar, Igor Škrjanc · IFAC-PapersOnLine · 2023
In this paper, low-order Bézier motion primitives are proposed for motion planning in corridor-constrained spaces, which is illustrated on a warehouse application. The proposed primitives are easily computed for given requirements (initial and final position, orientation and curvature). A new parametrization of the motion primitives is provided which allows an intuitive geometric interpretation. The combined path constructed from these primitives has a minimal number of turns, as third-order Bezier curves are used. At the same time, the combined path has continuous curvature. A path planning approach is proposed that finds the optimal combination of primitives that results in a minimum travel time while satisfying constraints on velocity, acceleration, and free space. To illustrate the applicability of the approach, a comparison with a typical predefined warehouse path and an existing advanced optimisation planner is provided and evaluated.