A Collision-Free G2 Continuous Path-Smoothing Algorithm Using Quadratic Polynomial Interpolation. (23rd December 2014)

• Record Type: Journal Article
• Authors: Chang, Seong-Ryong; Huh, Uk-Youl
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 12(2014)
• Publication Date: 2014-12-23
• Subjects: Continuous path -- Function approximation -- Interpolation -- Path planning -- Path smoothing Robot motion -- Smoothing algorithm -- Smooth path -- Vehicle navigation; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/59463
• Languages: English
• ISSNs: 1729-8806

Abstract

Most path-planning algorithms are used to obtain a collision-free path without considering continuity. On the other hand, a continuous path is needed for stable movement. In this paper, the searched path was converted into a G 2 continuous path using the modified quadratic polynomial and membership function interpolation algorithm. It is simple, unique and provides a good geometric interpretation. In addition, a collision-checking and improvement algorithm is proposed. The collision-checking algorithm can check the collisions of a smoothed path. If collisions are detected, the collision improvement algorithm modifies the collision path to a collision-free path. The collision improvement algorithm uses a geometric method. This method uses the perpendicular line between a collision position and the collision piecewise linear path. The sub-waypoint is added, and the QPMI algorithm is applied again. As a result, the collision-smoothed path is converted into a collision-free smooth path without changing the continuity.