Cubic Bézier Local Path Planner for Non-holonomic Feasible and Comfortable Path Generation - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2021

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

Abstract

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.
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Dates and versions

hal-03188287 , version 1 (01-04-2021)

Identifiers

  • HAL Id : hal-03188287 , version 1

Cite

Guillaume Vailland, Valérie Gouranton, Marie Babel. Cubic Bézier Local Path Planner for Non-holonomic Feasible and Comfortable Path Generation. ICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xian, China. pp.7894-7900. ⟨hal-03188287⟩
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