A multiobjective path-smoothing algorithm based on node adjustment and turn-smoothing

摘要

Presently, mobile robots experience problems of time consumption, poor security, and high computational complexity in global path-smoothing algorithms. This study presents a multiobjective path-smoothing algorithm, including a path point adjustment algorithm and a turn-smoothing method called the point adjustment algorithm and smoothing. First, the proposed path point adjustment algorithm filters and moves the nodes in an original path to decrease the length of the path and increase the angle of the turns in the path. Second, the proposed turn-smoothing method inserts the B-spline curve into the processed path to smooth the discontinuous turns in the path. Subsequently, the positions of the control points are adjusted based on the property of the B-spline to ensure that the smoothed path can avoid obstacles and satisfy the maximum curvature constraint. Simulation results show that the proposed algorithm can quickly calculate the path satisfying the robot dynamic constraints in various environments combined with different global path planning algorithms. Compared with other mainstream path-smoothing algorithms, this algorithm makes a substantial improvement in path length.