A Twofold-interpolation-based Path Planning Algorithm and Its Path Following Based on Improved Virtual Vehicle Method

摘要

In this paper, an interpolation-based path planning algorithm is employed for generating smooth paths on uniform resolution grid-maps. First, it starts at the goal node and propagates through four neighboring nodes, assigning monotonically increasing values to nodes using FMM (Fast Marching Method) interpolation. Consequently, we obtain a goal-propagation map that is zero-cost at the goal node and monotonically increasing along the wavefront propagation from the goal node. Subsequently, it begins from the robot's position and uses a linear interpolation approach to generate near-optimal paths. After obtaining the planned path, an improved path following algorithm based on an improved virtual vehicle method is employed to follow the path considering the robot's dynamic and kinematic constraints. The experimental results demonstrate the performance of our approach.