A smooth local path planning algorithm based on modified visibility graph

Path planning is an essential and inevitable problem in robotics. Trapping in local minima and discontinuities often exist in local path planning. To overcome these drawbacks, this paper presents a smooth path planning algorithm based on modified visibility graph. This algorithm consists of three st...

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Bibliographic Details
Published inModern physics letters. B, Condensed matter physics, statistical physics, applied physics Vol. 31; no. 19-21; p. 1740091
Main Authors Lv, Taizhi, Feng, Maoyan
Format Journal Article
LanguageEnglish
Published Singapore World Scientific Publishing Company 30.07.2017
World Scientific Publishing Co. Pte., Ltd
Subjects
Algorithms
Collision avoidance
Computer simulation
Information Theory
Particle swarm optimization
Path planning
Product design
Visibility
B-spline curve
Path planning
particle swarm optimization
visibility graph
Online AccessGet full text
ISSN0217-9849
1793-6640
DOI10.1142/S0217984917400917

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Summary:Path planning is an essential and inevitable problem in robotics. Trapping in local minima and discontinuities often exist in local path planning. To overcome these drawbacks, this paper presents a smooth path planning algorithm based on modified visibility graph. This algorithm consists of three steps: (1) polygons are generated from detected obstacles; (2) a collision-free path is found by simultaneous visibility graph construction and path search by A ∗ (SVGA); (3) the path is smoothed by B-spline curves and particle swarm optimization (PSO). Simulation experiment results show the effectiveness of this algorithm, and a smooth path can be found fleetly.
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ISSN:0217-9849
1793-6640
DOI:10.1142/S0217984917400917