Global Path Planning Using Piecewise Sigmoid Curves

摘要

The field of the invention relates to robot motion and a global path plan for a robot. Global paths are planned using piecewise Sigmoid curves by determining an initial valid path for guiding a robot from a starting position to an ending position, dividing the initial valid path into a plurality of individual segments of the initial valid path, and fitting a separate Sigmoid curve respectively to each of the plurality of individual segments of the initial valid path based on parameters of at least one of smoothness and security to produce a piecewise Sigmoid curve path.