Abstract
Innovative applications in rapidly evolving domains such as robotic navigation and autonomous (driverless) vehicles rely on motion planning systems that meet the shortest path and obstacle avoidance requirements. This article proposes a novel path planning algorithm based on jump point search and Bezier curves. The proposed algorithm consists of two main steps. In the front end, the improved heuristic function based on distance and direction is used to reduce the cost, and the redundant turning points are trimmed. In the back end, a novel trajectory generation method based on Bezier curves and a straight line is proposed. Our experimental results indicate that the proposed algorithm provides a complete motion planning solution from the front end to the back end, which can realize an optimal trajectory from the initial point to the target point used for robot navigation.
Highlights
Simultaneous localization and mapping (SLAM) and motion planning are two of the most critical problems of mobile robots
We propose a trajectory generation algorithm based on the mixture of Bezier curve and straight line, Figure 3
To the path planning and trajectory generation algorithm proposed in this article, the algorithm is simulated by MATLAB, and an experiment is carried out for a wheeled mobile robot.[26]
Summary
Simultaneous localization and mapping (SLAM) and motion planning are two of the most critical problems of mobile robots. The A* algorithm is a widely used graph search method in robot path planning It adds a heuristic function h(n) to the Dijkstra algorithm, representing the minimum estimated cost from the current node to the target point. In front-end path planning, an improved JPS algorithm is proposed, optimizing the heuristic function and simplifying the turning point. Unlike the traditional JPS algorithm, the proposed algorithm first considers the distance and direction as the heuristic function It trims the redundant extension nodes to improve path planning efficiency. An improved trajectory optimization algorithm based on a straight line and Bezier curve is proposed in the back-end trajectory planning In this algorithm, the Bezier curve is used to generate the trajectory at the path’s turning point.
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