Component-wise method of smoothing the curvature of spatial paths constructed by noisy measurements in robot motion planning problems

Authors:
R. F. Gilimyanov
Affiliations:
Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia
Venue:
Automation and Remote Control
Year:
2013

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Abstract

A motion planning problem for a robot is considered. A robot follows a path in the manual mode and path coordinates are measured by a GNSS receiver. Repeating this path in the automatic mode requires constructing a geometric path that satisfies certain smoothness conditions and curvature constraints. This paper suggests the component-wise method for improving the curvature of a 3D path consisting of uniform cubic B-splines. Finally, the results of applying the proposed method to real paths of a motor vehicle and helicopter measured by a GNSS receiver are provided.