Open AccessA Novel Algorithm for Path Planning of the Mobile Robot in Obstacle Environment
Author(s) -
Yang Lang Chang
Publication year - 2021
Publication title -
international journal of circuits, systems and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.156
H-Index - 13
ISSN - 1998-4464
DOI - 10.46300/9106.2021.15.26
Subject(s) - mobile robot , piecewise , motion planning , polynomial , path (computing) , smoothing , computer science , algorithm , obstacle avoidance , path length , robot , mathematics , computer vision , artificial intelligence , mathematical analysis , computer network , programming language
—In this paper, a design method of smoothing the path generated by a novel algorithm is proposed, which makes the mobile robot can more rapidly and smoothly follow the path and reach the target point. No matter the attitude vector angle is an acute angle or obtuse angle, there is no doubt that we can find the right curve, including polar polynomial curves and piecewise polynomial functions, which makes the path length and the circular arc tend to be similar and guarantees the shorter path length. In the condition of meeting the dynamic characteristics of the mobile robot, the tracking speed and quality are improved. Therefore, the symmetric polynomial curve and the piecewise polynomial function curve are used to generate a smooth path. This novel algorithm improves the path tracking accuracy and the flexibility of the mobile robot. At the same time, it expands the application range of mobile robot in structured environment.