Smooth path planning for robot docking in unknown environment with obstacles
type: Item
instance of: scholarly article
title: Smooth path planning for robot docking in unknown environment with obstacles
zbMATH Open document ID: 1407.93247
DOI: 10.1155/2018/4359036
author: Peng Cui
author: Weisheng Yan
author: Rongxin Cui
author: Jiahui Yu
author: Zhaojie Ju
published in: Complexity
publication date: 2019-02-19T00:00:00Z
review text: Summary: This paper presents an integrated approach to plan smooth path for robots docking in unknown environments with obstacles. To determine the smooth collision-free path in obstacle environment, a tree structure with heuristic expanding strategy is designed as the foundation of path planning in this approach. The tree employs 3D Dubins curves as its branches and foundation for path feasibility evaluation. For the efficiency of the tree expanding in obstacle environment, intermediate nodes and collision-free branches are determined inspired by the elastic band theory. A feasible path is chosen as the shortest series of branches that connects to the docking station after the sufficient expansion of the tree. Simulation results are presented to show the validity and feasibility of the proposed approach.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 68T40
Mathematics Subject Classification ID: 68T20
zbMATH DE Number: 7025035
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/4359036
OpenAlex ID: W2900294696
cites work: Classification of the Dubins set
cites work: On Dubins paths to intercept a moving target
Wikidata QID: Q128909078
description: scientific article; zbMATH DE number 7025035