Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

Peng Cui, Weisheng Yan, Rongxin Cui, Jiahui Yu

科研成果: 期刊稿件文章同行评审

13 引用 (Scopus)

摘要

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.

源语言英语
文章编号4359036
期刊Complexity
2018
DOI
出版状态已出版 - 2018

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