Motion Planning Method for Home Service Robot Based on Bezier Curve

Abstract

AbstractAiming at the problems of collision, non-smoothness, and discontinuity of the trajectory generated by the motion planning of the service robot in the home environment, this paper proposes a robot motion planning system consisting of three parts: path planning, trajectory generation, and trajectory optimization. First, use the A* algorithm based on graph search to quickly plan a passable global path in a complex home environment as the initial value of trajectory generation; secondly, construct an objective function based on Minimum Snap to generate the initial trajectory to be optimized; finally, Using the convex hull property of the Bezier curve, the safety corridor is constructed and the time distribution is adjusted by the trapezoidal velocity curve method, which solves the overshoot phenomenon that occurs in the solution process of the trajectory generation. The Minimum Snap method based on the Bezier Curve is constructed to optimize the trajectory and finally generate A continuous and smooth motion trajectory with minimal energy loss suitable for service robots. The feasibility and effectiveness of this method are proved by simulation experiments.KeywordsService robotTrajectory optimizationBezier curve