Recursive Method of Smoothing Curvature of Path in Path Planning Problems for Wheeled Robots

Path planning problem is considered as follows. Wheeled robot is manually guided over the required path; coordinates of the path are measured by GNSS receiver. Following the initial path in automatic mode makes it necessary to construct a path which satisfies certain smoothness requirements and curvature constraints. Small measurement errors for the coordinates of the corresponding points may substantially modify the curvature of the constructed path (thus, making it inapplicable for control). A recursive method of smoothing curvature of the curve (composed of uniform cubic B-splines) is proposed; the method can be used in real-time under constraints imposed on available random-access memory.