Bézier Curve based Path Planning for an Intelligent Wheelchair to pass a Doorway
نویسندگان
چکیده
Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel approach to address the door passing issue using Bézier curve based path planning. The planed path consists of two segments: one from corridor to door and the other from door to the goal position. For each segment, an optimal Bézier curve is generated as a reference trajectory for an intelligent wheelchair to travel smoothly and accurately subject to corridor constrain, curvature limitation and obstacles. The simulation is conducted to verify the feasibility of the proposed approach, and the results show a good performance in terms of tracking accuracy and good maneuverability. Keywords-Door passing; Bézier curve; optimization; path planning; obstacle avoidance
منابع مشابه
Bézier Curve based Trajectory Planning for an Intelligent Wheelchair to Pass a Doorway
Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel approach to address the door passing issue using Bézier curve based trajectory planning. The planed path consists of two segments: one from corridor to door and the other from door to the goal position. For each segment, an optimal Bézier curve is generated as a reference trajectory for an intelligent...
متن کاملDoorway passing of an intelligent wheelchair by dynamically generating Bézier curve trajectory
Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel strategy to address the door passing issue by dynamically generating the Bézier curve based trajectory. It consists of door finding, optimization based trajectory generation and tracking control, which are executed repeatedly to increase the ability of passing the door and improve the performance. Whe...
متن کاملStudy of Evolutionary and Swarm Intelligent Techniques for Soccer Robot Path Planning
Finding an optimal path for a robot in a soccer field involves different parameters such as the positions of the robot, positions of the obstacles, etc. Due to simplicity and smoothness of Ferguson Spline, it has been employed for path planning between arbitrary points on the field in many research teams. In order to optimize the parameters of Ferguson Spline some evolutionary or intelligent al...
متن کاملBézier Curve for Trajectory Guidance
In this paper we present two path planning algorithms based on Bézier curves for autonomous vehicles with waypoints and corridor constraints. Bézier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bézier curve ...
متن کاملPath Planning based on Bézier Curve for Autonomous Ground Vehicles
In this paper we present two path planning algorithms based on Bézier curves for autonomous vehicles with waypoints and corridor constraints. Bézier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bézier curve ...
متن کامل