English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

An algorithm that integrates the improved artificial fish swarm algorithm with continuous segmented Bézier curves is proposed, aiming at the path planning and smoothing of mobile robots. On the one hand, to overcome the low accuracy problems, more inflection points and relatively long planning paths in the traditional artificial fish swarm algorithm for path planning, feasible solutions and a range of step sizes are introduced based on Dijkstra's algorithm. To solve the problems of poor convergence and degradation that hinder the algorithm's ability to find the best in the later stage, a dynamic feedback horizon and an adaptive step size are introduced. On the other hand, to ensure that the planned paths are continuous in both orientation and curvature, the Bessel curve theory is introduced to smooth the planned paths. This is demonstrated through a simulation that shows the improved artificial fish swarm algorithm achieving 100% planning accuracy, while ensuring the shortest average path in the same grid environment. Additionally, the smoothed path is continuous in both orientation and curvature, which satisfies the kinematic characteristics of the mobile robot.

Path planning and smoothing of mobile robot based on improved artificial fish swarm algorithm