ITC: Infused Tangential Curves for Smooth 2D and 3D Navigation of Mobile Robots †.

ABSTRACT: Navigation is an indispensable component of ground and aerial mobile robots. Although there is a plethora of path planning algorithms, most of them generate paths that are not smooth and have angular turns. In many cases, it is not feasible for the robots to execute these sharp turns, and a smooth trajectory is desired. We present 'ITC: Infused Tangential Curves' which can generate smooth trajectories for mobile robots. The main characteristics of the proposed ITC algorithm are: (1) The curves are tangential to the path, thus maintaining G 1 continuity, (2) The curves are infused in the original global path to smooth out the turns, (3) The straight segments of the global path are kept straight and only the sharp turns are smoothed, (4) Safety is embedded in the ITC trajectories and robots

SUBMITTER: Ravankar A 

PROVIDER: S-EPMC6833116 | biostudies-literature | 2019 Oct

REPOSITORIES: biostudies-literature