Simulated annealing based algorithm for smooth robot path planning with different kinematic constraints

Authors:
Yi-Ju Ho;Jing-Sin Liu
Affiliations:
Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan, ROC;Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan, ROC
Venue:
Proceedings of the 2010 ACM Symposium on Applied Computing
Year:
2010

Citing 5
Cited 0

A sweepline algorithm for Voronoi diagrams

SCG '86 Proceedings of the second annual symposium on Computational geometry
Spatial tessellations: concepts and applications of Voronoi diagrams

Spatial tessellations: concepts and applications of Voronoi diagrams
Constrained Simulated Annealing with Applications in Nonlinear Continuous Constrained Global Optimization

ICTAI '99 Proceedings of the 11th IEEE International Conference on Tools with Artificial Intelligence
Voronoi diagram in optimal path planning

ISVD '07 Proceedings of the 4th International Symposium on Voronoi Diagrams in Science and Engineering
Collision-free curvature-bounded smooth path planning using composite Bezier curve based on Voronoi diagram

CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, we present a simulated annealing (SA) based algorithm for robot path planning. The kernel of our SA engine is based on Voronoi diagram and composite Bezier curve to obtain the shortest smooth path under given kinematic constraints. In our algorithm, a Voronoi diagram is constructed according to the global environment. The piecewise linear path in the Voronoi diagram which keeps away from the obstacles is obtained by performing Dijkstra's shortest path algorithm. The control points on the reference path are used to create the control variables for our SA engine. Our SA engine then updates the control variables to obtain the shortest composite Bezier curve path while satisfying given kinematic constraints. Experimental results on two maps containing sharp turns demonstrate the effectiveness of the proposed SA-based smooth path planning algorithm.