Cubic Bézier Local Path Planner for Non-holonomic Feasible and Comfortable Path Generation

In the case of non-holonomic robot navigation, path planning algorithms such as Rapidly-exploring Random Tree (RRT) rarely provide feasible and smooth paths without the need of additional processing. Furthermore, in a transport context like power wheelchair navigation, passenger comfort should be a...

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Bibliographic Details
Main Authors: Vailland, Guillaume, Gouranton, Valerie, Babel, Marie
Format: Conference Proceeding
Language:English
Subjects:
Automation
Conferences
Human Factors and Human-in-the-Loop
Indexes
Mobile robots
Motion and Path Planning
Navigation
Non-holonomic Motion Planning
Trajectory
Wheelchairs
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Summary:In the case of non-holonomic robot navigation, path planning algorithms such as Rapidly-exploring Random Tree (RRT) rarely provide feasible and smooth paths without the need of additional processing. Furthermore, in a transport context like power wheelchair navigation, passenger comfort should be a priority and influence path planning strategy. In this paper, we propose a local path planner which guarantees bounded curvature value and continuous Cubic Bézier piecewise curves connection. To simulate and test this Cubic Bézier local path planner, we developed a new RRT version (CBB-RRT*) which generates on-the fly comfortable path adapted to non-holonomic constraints.
ISSN:2577-087X
DOI:10.1109/ICRA48506.2021.9560854