Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles
Joint Authors
Cui, Rongxin
Yu, Jiahui
Cui, Peng
Yan, Weisheng
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-11-08
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
This paper presents an integrated approach to plan smooth path for robots docking in unknown environments with obstacles.
To determine the smooth collision-free path in obstacle environment, a tree structure with heuristic expanding strategy is designed as the foundation of path planning in this approach.
The tree employs 3D Dubins curves as its branches and foundation for path feasibility evaluation.
For the efficiency of the tree expanding in obstacle environment, intermediate nodes and collision-free branches are determined inspired by the elastic band theory.
A feasible path is chosen as the shortest series of branches that connects to the docking station after the sufficient expansion of the tree.
Simulation results are presented to show the validity and feasibility of the proposed approach.
American Psychological Association (APA)
Cui, Peng& Yan, Weisheng& Cui, Rongxin& Yu, Jiahui. 2018. Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles. Complexity،Vol. 2018, no. 2018, pp.1-17.
https://search.emarefa.net/detail/BIM-1134114
Modern Language Association (MLA)
Cui, Peng…[et al.]. Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles. Complexity No. 2018 (2018), pp.1-17.
https://search.emarefa.net/detail/BIM-1134114
American Medical Association (AMA)
Cui, Peng& Yan, Weisheng& Cui, Rongxin& Yu, Jiahui. Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles. Complexity. 2018. Vol. 2018, no. 2018, pp.1-17.
https://search.emarefa.net/detail/BIM-1134114
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1134114