Path Planning and Following of Omnidirectional Mobile Robot Based on B-spline

Abstract

Path planning and following is a problem that must be considered when controlling wheeled robots. In this field, the conventional method is using straight lines and arcs to design the path and follow it. Generally, people expect the robot to follow any specified path, and follow their command accurately and smoothly. In this paper, we put forward a path planning method of omnidirectional mobile robot based on Uniform Cubic B-Spline Curves. The method avoids large-scale matrix calculation, effectively reduces the time complexity and space complexity of the algorithm and has strong operability. It supports not only input methods of multiple types of points, but also offline planning and online planning. In addition, for the omnidirectional mobile robot, how to accurately and smoothly follow the path is studied, and a non-time-referenced path following method is proposed. This method is simple in control and can effectively track any arbitrary curve. Through Simulation and experiment, the effectiveness of the algorithm is verified.