Component-wise Method of Smoothing the Curvature of Spatial Paths Constructed by Noisy Measurements in Robot Motion Planning Problems

摘要

A motion planning problem for a robot is considered. A robot follows a path in the manual mode and path coordinates are measured by a GNSS receiver. Repeating this path in the automatic mode requires constructing a geometric path that satisfies certain smoothness conditions and curvature constraints. This paper suggests the component-wise method for improving the curvature of a 3D path consisting of uniform cubic B-splines. Finally, the results of applying the proposed method to real paths of a motor vehicle and helicopter measured by a GNSS receiver are provided.