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An optimal path planning algorithm for autonomous mobile robot based on Bézier curve model. (Chinese. English summary) Zbl 1299.93193

Summary: The autonomous mobile robot is taken as the research object and, according to the actual characteristics of the track of a soccer robot, an approach to optimal path planning is suggested based on cubic Bezier curves. This method takes the actual speed, acceleration and obstacle avoidance of soccer robot movement in game as the constraint conditions for path planning, and uses the shortest planning path and the shortest time to arrive at the target as the planning objective. Meanwhile, through the Bezier curves model combined with the particle swarm algorithm, those particles which are produced in the process of generating the track are selected and updated, and the proposed distribution and weight coefficient of the constraint conditions are adjusted based on the movement characteristics of the robot to enhance the effectiveness of the position prediction and improve the accuracy of path planning. The results of the simulation prove that the improved method is correct and feasible.

MSC:

93C85 Automated systems (robots, etc.) in control theory
68T40 Artificial intelligence for robotics
70B15 Kinematics of mechanisms and robots
90C59 Approximation methods and heuristics in mathematical programming
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