2015/08/11 by Stéphane Lens, Lens, Stéphane, Bernard Boigelot +1 · 1 citation
Computer Science · Engineering · Mathematics · #Algorithm #Artificial intelligence #Bounded function #Computation #Computer science #Control and Dynamics of Mobile Robots #Curvature #Discretization #FOS: Computer and information sciences #Geometry #Interpolation (computer graphics) #Mathematical analysis #Mathematical optimization #Mathematics #Mobile robot #Motion (physics) #Motion planning #Nonholonomic system #Obstacle #Obstacle avoidance #Path (computing) #Robot #Robotic Mechanisms and Dynamics #Robotic Path Planning Algorithms #Robotics (cs.RO) #Traverse #Voronoi diagram #cs.RO
paper · pdf · doi:10.48550/arxiv.1508.02608
published in arXiv (Cornell University) (Cornell University)
arxiv created 2015/08/11 · openalex publication_date 2015/08/11 · arxiv updated 2015/08/12 · openalex created_date 2016/06/24 · openalex updated_date 2026/07/28
This paper studies path synthesis for nonholonomic mobile robots moving in two-dimensional space. We first address the problem of interpolating paths expressed as sequences of straight line segments, such as those produced by some planning algorithms, into smooth curves that can be followed without stopping. Our solution has the advantage of being simpler than other existing approaches, and has a low computational cost that allows a real-time implementation. It produces discretized paths on which curvature and variation of curvature are bounded at all points, and preserves obstacle clearance. Then, we consider the problem of computing a time-optimal speed profile for such paths. We introduce an algorithm that solves this problem in linear time, and that is able to take into account a broader class of physical constraints than other solutions. Our contributions have been implemented and evaluated in the framework of the Eurobot contest.