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Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

Author

Listed:
  • Peng Cui
  • Weisheng Yan
  • Rongxin Cui
  • Jiahui Yu

Abstract

This paper presents an integrated approach to plan smooth path for robots docking in unknown environments with obstacles. To determine the smooth collision-free path in obstacle environment, a tree structure with heuristic expanding strategy is designed as the foundation of path planning in this approach. The tree employs 3D Dubins curves as its branches and foundation for path feasibility evaluation. For the efficiency of the tree expanding in obstacle environment, intermediate nodes and collision-free branches are determined inspired by the elastic band theory. A feasible path is chosen as the shortest series of branches that connects to the docking station after the sufficient expansion of the tree. Simulation results are presented to show the validity and feasibility of the proposed approach.

Suggested Citation

  • Peng Cui & Weisheng Yan & Rongxin Cui & Jiahui Yu, 2018. "Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles," Complexity, Hindawi, vol. 2018, pages 1-17, November.
    • Handle: RePEc:hin:complx:4359036
    DOI: 10.1155/2018/4359036
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    1. Jules S. Jaffe & Peter J. S. Franks & Paul L. D. Roberts & Diba Mirza & Curt Schurgers & Ryan Kastner & Adrien Boch, 2017. "A swarm of autonomous miniature underwater robot drifters for exploring submesoscale ocean dynamics," Nature Communications, Nature, vol. 8(1), pages 1-8, April.
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