Computer Engineering and Applications ›› 2010, Vol. 46 ›› Issue (22): 221-224.DOI: 10.3778/j.issn.1002-8331.2010.22.064

• 工程与应用 • Previous Articles     Next Articles

Research of path planning for vehicle-like robot on Hermite cubic splines

PENG Hui1,ZENG Bi2   

  1. 1.Guangxi Vocational & Technical Institute of Industry,Nanning 530001,China
    2.Guangdong University of Technology,Guangzhou 510090,China
  • Received:2010-03-12 Revised:2010-06-02 Online:2010-08-01 Published:2010-08-01
  • Contact: PENG Hui


彭 辉1,曾 碧2   

  1. 1.广西工业职业技术学院,南宁 530001
    2.广东工业大学,广州 510090
  • 通讯作者: 彭 辉

Abstract: This paper introduces a method to search feasible paths through complicated environments using a baseline smooth path based on Hermite cubic splines.And the method to iteratively optimize the path is also expounded in this paper.The algorithm is experimented at ODE simulated environment,and evaluated with satisfactory results.

Key words: vehicle-like robot, path planning and optimization, Hermite cubic splines, iterative optimization

摘要: 针对车型机器人在移动过程中的路障规避和寻找最优路径的问题,提出了一种基于Hermite三次样条的基线平滑路径,作为移动机器人穿越复杂环境的可行路径,并给出了相应的迭代优化算法。该算法在ODE仿真环境下进行了测试,其效果令人满意。

关键词: 车型机器人, 路径规划和优化, Hermite三次样条, 迭代优化

CLC Number: