Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles. (8th November 2018)

• Record Type: Journal Article
• Authors: Cui, Peng; Yan, Weisheng; Cui, Rongxin; Yu, Jiahui
• Other Names: Ju Zhaojie Guest Editor.
• Is Part Of: Complexity. Volume 2018(2018)
• Publication Date: 2018-11-08
• Subjects: Chaotic behavior in systems -- Periodicals; Complexity (Philosophy) -- Periodicals; 003
• DOI: 10.1155/2018/4359036
• Languages: English
• ISSNs: 1076-2787

Abstract

Abstract : 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.