Global Time-Varying Path Planning Method Based on Tunable Bezier Curves
Source abstract
Abstract
In this paper, a novel global time-varying path planning (GTVP) method is proposed. In the method, real-time paths can be generated based on tunable Bezier curves, which can realize obstacle avoidance of manipulators. First, finite feature points are extracted to represent the obstacle information according to the shape information and position information of the obstacle. Then, the feature points of the obstacle are converted into the feature points of the curve, according to the scale coefficient and the center point of amplification. Furthermore, a Bezier curve representing the motion path at this moment is generated to realize real-time adjustment of the path. In addition, the 5-degree Bezier curve planning method consider the start direction and the end direction is used in the path planning to avoid the situation of abrupt change with oscillation of the trajectory. Finally, the GTVP method is applied to multi-obstacle environment to realize global time-varying dynamic path planning. Through theoretical derivation and simulation, it can be proved that the path planned by the GTVP method can meet the performance requirements of global regulation, real-time change and multi-obstacle avoidance simultaneously.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Path Planning Algorithms · Human Motion and Animation · Robotic Mechanisms and Dynamics
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Laboratory of Aerospace Servo Actuation and Transmission, Beijing Institute of Precision Mechatronics and Controls, Beijing 100076, China
Beijing Institute of Tracking and Telecommunication Technology, Beijing 100094, China
Funding
National Key Research and Development program of China
References (33)
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