Continuous path smoothing method of B-spline curve satisfying curvature constraint

被引：0
|
作者：
Zhang Y. [1 ,2 ]
Xue Q. [1 ]
Ji S. [1 ,2 ]
机构：
[1] Department of Materials and Manufacturing, Beijing University of Technology, Beijing
[2] Beijing Chietom-BJUT Intelligent Transmission Technology Research Institute Co. Ltd., Beijing
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2022年 / 50卷 / 05期
关键词：
B-spline curve; C[!sup]2[!/sup] continuity; Curvature constraint; Path planning; Path smoothing;
D O I：
10.13245/j.hust.220511
中图分类号：
学科分类号：
摘要：
To avoid the discontinuity and unsmoothness of the global path planning, a path-smoothing algorithm based on the cubic quasi-uniform B-spline curve was proposed. Based on the DeBoor trigonometric recursion algorithm, the fan-shaped output algorithm (FA) in interval mode was designed. Compared with the traditional recursion method, the operational efficiency of the FA algorithm was increased by 38%. Based on the FA algorithm, with the consideration of the mapping relationship between curve curvature and angle, the impact of angular variation on the distribution coefficient was studied systematically. The increase mode of control point under the angular variation was proposed to establish the kinematics model of the mobile robot. The initial control broken-line path was optimized with the constraint condition of maximum path curvature. Research results show that the smooth path can fulfill C2-continuity under the property of the quasi-uniform B-spline. The proposed algorithm was verified by simulation and experiment on the wheeled mobile robot. © 2022, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.
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页码：59 / 65and72
页数：6513
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