A Path Planning Method for Autonomous Ships Based on SVM

Qiao, Shuanghu; Zheng, Kai; Wang, Guofeng

doi:10.1109/ccdc49329.2020.9164806

Cited by 4 publications

(1 citation statement)

References 14 publications

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“…Combined with the trajectory planner method [1][2][3] that controls a mobile robot to travel along the path, this technology can liberate robots from a fixed working position to complete more complex tasks and can improve the repeatability of robotic applications, which greatly enhances the robots' application scenarios. [4][5][6][7] Recently, this has been a trending research topic in robotics.…”

Section: Introductionmentioning

confidence: 99%

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

Cao

Zhang

et al. 2023

Measurement and Control

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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.

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