Hermite三次样条插值的车型机器人路径规划研究

Research of path planning for vehicle-like robot on Hermite cubic splines

针对车型机器人在移动过程中的路障规避和寻找最优路径的问题,提出了一种基于Hermite三次样条的基线平滑路径,作为移动机器人穿越复杂环境的可行路径,并给出了相应的迭代优化算法。该算法在ODE仿真环境下进行了测试,其效果令人满意。

This paper introduces a method to search feasible paths through complicated environments using a baseline smooth path based on Hermite cubic splines.And the method to iteratively optimize the path is also expounded in this paper. The algorithm is experimented at ODE simulated environment,and evaluated with satisfactory results.