A new approach based on Bezier curves to solve path planning problems for mobile robots

DURAKLI Z., NABIYEV V.

Journal of Computational Science, cilt.58, 2022 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 58
  • Basım Tarihi: 2022
  • Doi Numarası: 10.1016/j.jocs.2021.101540
  • Dergi Adı: Journal of Computational Science
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Compendex, INSPEC
  • Anahtar Kelimeler: Path planning, Optimum path, Bezier curve, Prune strategy, Smoothing spikes, GENETIC ALGORITHM, ENVIRONMENT, GENERATION
  • Karadeniz Teknik Üniversitesi Adresli: Evet

Özet

© 2021 Elsevier B.V.Path planning algorithms are used in known environments to find the shortest, smooth and optimal way without collision from the starting point to the target point. However, excessive nodes and pointed spiking points that occur during this path planning process pose problems. Bezier curves offer highly effective possibilities for path forming problems. In this article, a new approach based on Bezier curves is proposed for solving such problems. First, grid maps are used to model the environment Second, a path is found between the start and endpoints using traditional algorithms. Third, the excess knots are discarded by pruning based on Bezier curves. Finally, the spikes are smoothed using Bezier curves to ensure smoothness and continuity. Looking at the results from the proposed approach, it has proven that its effectiveness in obtaining an optimum path between the starting and target points in known environments.