A novel local path planning method considering both robot posture and path smoothness

Xiang Gao; Yongsheng Ou; Yiqun Fu; Zhao Li; Dawei Dai; Liangliang Cui; Yimin Zhou; Weidong Guo

doi:10.1109/ROBIO.2013.6739454

A novel local path planning method considering both robot posture and path smoothness

Xiang Gao
, Yongsheng Ou^*
, Yiqun Fu
, Zhao Li
, Dawei Dai
, Liangliang Cui
, Yimin Zhou
, Weidong Guo

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Shenzhen Institute of Advanced Technology
Beihang University
Chinese University of Hong Kong

Research output: Contribution to conference › Paper › peer-review

9 Scopus citations

Abstract

Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly, a localization method which the path planning method relies on is explained. Secondly, a path planning model considering the path smoothness and the robot posture is discussed in detail. Thirdly, a solution based on particle swarm optimization (PSO) algorithm is discussed. Fourthly, simulation results are shown and analyzed. At last, conclusion and future work are provided.

Original language	English
Pages	172-178
Number of pages	7
DOIs	https://doi.org/10.1109/ROBIO.2013.6739454
State	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: 12 Dec 2013 → 14 Dec 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	12/12/13 → 14/12/13

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title = "A novel local path planning method considering both robot posture and path smoothness",

abstract = "Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly, a localization method which the path planning method relies on is explained. Secondly, a path planning model considering the path smoothness and the robot posture is discussed in detail. Thirdly, a solution based on particle swarm optimization (PSO) algorithm is discussed. Fourthly, simulation results are shown and analyzed. At last, conclusion and future work are provided.",

author = "Xiang Gao and Yongsheng Ou and Yiqun Fu and Zhao Li and Dawei Dai and Liangliang Cui and Yimin Zhou and Weidong Guo",

year = "2013",

doi = "10.1109/ROBIO.2013.6739454",

language = "英语",

pages = "172--178",

note = "2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 ; Conference date: 12-12-2013 Through 14-12-2013",

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TY - CONF

T1 - A novel local path planning method considering both robot posture and path smoothness

AU - Gao, Xiang

AU - Ou, Yongsheng

AU - Fu, Yiqun

AU - Li, Zhao

AU - Dai, Dawei

AU - Cui, Liangliang

AU - Zhou, Yimin

AU - Guo, Weidong

PY - 2013

Y1 - 2013

N2 - Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly, a localization method which the path planning method relies on is explained. Secondly, a path planning model considering the path smoothness and the robot posture is discussed in detail. Thirdly, a solution based on particle swarm optimization (PSO) algorithm is discussed. Fourthly, simulation results are shown and analyzed. At last, conclusion and future work are provided.

AB - Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly, a localization method which the path planning method relies on is explained. Secondly, a path planning model considering the path smoothness and the robot posture is discussed in detail. Thirdly, a solution based on particle swarm optimization (PSO) algorithm is discussed. Fourthly, simulation results are shown and analyzed. At last, conclusion and future work are provided.

UR - https://www.scopus.com/pages/publications/84898832974

U2 - 10.1109/ROBIO.2013.6739454

DO - 10.1109/ROBIO.2013.6739454

M3 - 论文

AN - SCOPUS:84898832974

SP - 172

EP - 178

T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

Y2 - 12 December 2013 through 14 December 2013

ER -

A novel local path planning method considering both robot posture and path smoothness

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