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Global Time-Varying Path Planning Method Based on Tunable Bezier Curves

التفاصيل البيبلوغرافية
العنوان: Global Time-Varying Path Planning Method Based on Tunable Bezier Curves
المؤلفون: Longfei Jia, Si Zeng, Lei Feng, Bohan Lv, Zhiyuan Yu, Yuping Huang
المصدر: Applied Sciences, Vol 13, Iss 24, p 13334 (2023)
بيانات النشر: MDPI AG, 2023.
سنة النشر: 2023
المجموعة: LCC:Technology
LCC:Engineering (General). Civil engineering (General)
LCC:Biology (General)
LCC:Physics
LCC:Chemistry
مصطلحات موضوعية: Bezier curve, path planning, obstacle avoidance, global time-varying, dynamic obstacle, real-time, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999
الوصف: In this paper, a novel global time-varying path planning (GTVP) method is proposed. In the method, real-time paths can be generated based on tunable Bezier curves, which can realize obstacle avoidance of manipulators. First, finite feature points are extracted to represent the obstacle information according to the shape information and position information of the obstacle. Then, the feature points of the obstacle are converted into the feature points of the curve, according to the scale coefficient and the center point of amplification. Furthermore, a Bezier curve representing the motion path at this moment is generated to realize real-time adjustment of the path. In addition, the 5-degree Bezier curve planning method consider the start direction and the end direction is used in the path planning to avoid the situation of abrupt change with oscillation of the trajectory. Finally, the GTVP method is applied to multi-obstacle environment to realize global time-varying dynamic path planning. Through theoretical derivation and simulation, it can be proved that the path planned by the GTVP method can meet the performance requirements of global regulation, real-time change and multi-obstacle avoidance simultaneously.
نوع الوثيقة: article
وصف الملف: electronic resource
اللغة: English
تدمد: 2076-3417
Relation: https://www.mdpi.com/2076-3417/13/24/13334; https://doaj.org/toc/2076-3417
DOI: 10.3390/app132413334
URL الوصول: https://doaj.org/article/9ae8cf37492c495fa5b28906db5c0022
رقم الأكسشن: edsdoj.9ae8cf37492c495fa5b28906db5c0022
قاعدة البيانات: Directory of Open Access Journals
الوصف
تدمد:20763417
DOI:10.3390/app132413334