G² Continuity Smooth Path Planning using Cubic Polynomial Interpolation with Membership Function

Chang, Seong-Ryong,Huh, Uk-Youl The Korean Institute of Electrical Engineers 2015 Journal of Electrical Engineering & Technology Vol.10 No.2

Path planning algorithms are used to allow mobile robots to avoid obstacles and find ways from a start point to a target point. The general path planning algorithm focused on constructing of collision free path. However, a high continuous path can make smooth and efficiently movements. To improve the continuity of the path, the searched waypoints are connected by the proposed polynomial interpolation. The existing polynomial interpolation methods connect two points. In this paper, point groups are created with three points. The point groups have each polynomial. Polynomials are made by matching the differential values and simple matrix calculation. Membership functions are used to distribute the weight of each polynomial at overlapped sections. As a result, the path has $G^2$ continuity. In addition, the proposed method can analyze path numerically to obtain curvature and heading angle. Moreover, it does not require complex calculation and databases to save the created path.

G<SUP>2</SUP> Continuity Smooth Path Planning using Cubic Polynomial Interpolation with Membership Function

Seong-Ryong Chang,Uk-Youl Huh 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.2

Path planning algorithms are used to allow mobile robots to avoid obstacles and find ways from a start point to a target point. The general path planning algorithm focused on constructing of collision free path. However, a high continuous path can make smooth and efficiently movements. To improve the continuity of the path, the searched waypoints are connected by the proposed polynomial interpolation. The existing polynomial interpolation methods connect two points. In this paper, point groups are created with three points. The point groups have each polynomial. Polynomials are made by matching the differential values and simple matrix calculation. Membership functions are used to distribute the weight of each polynomial at overlapped sections. As a result, the path has G<SUP>2</SUP> continuity. In addition, the proposed method can analyze path numerically to obtain curvature and heading angle. Moreover, it does not require complex calculation and databases to save the created path.

Smooth Path Planning Method for Unmanned Surface Vessels Considering Environmental Disturbance

Jiabin Yu,Zhihao Chen,Zhiyao Zhao,Xiaoyi Wang,Yuting Bai,Jiguang Wu,Jiping Xu 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.10

To solve the problems of unsmooth path planning, insufficient dynamic obstacle avoidance ability, and environmental disturbance effect on the path planning result, this paper proposes a smooth path planning method for unmanned surface vessels (USVs) considering environmental disturbance. First, an improved A* algorithm, which uses the path smoothing method based on the minimum turning radius of a USV, is proposed for global path planning. The binary tree method is used instead of the enumeration method to select a relatively optimal path in the current situation to improve algorithm efficiency. In addition, the dynamic window approach (DWA) with the Convention on the International Regulation for Preventing Collision at Sea (COLREGs) constraints is used for local path planning. The dist function in the DWA algorithm is improved to enhance the DWA algorithm’s ability to avoid dynamic obstacles. Finally, the environmental disturbance function is derived and added to the A* and DWA algorithms to handle the effect of environmental disturbances, such as water flow, on the path planning result, which can significantly improve the path-planning ability of the algorithm in the presence of environmental disturbances. Simulation experiments are performed in three scenarios to verify the proposed algorithm. The experimental results show that compared with the other algorithms, the proposed algorithm can effectively avoid dynamic obstacles and reduce the impact of environmental disturbance on the path planning result. At the same time, the proposed algorithm has high efficiency and strong robustness.

G² Continuity Smooth Path Planning using Cubic Polynomial Interpolation with Membership Function

장성용,허욱열 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.2

Path planning algorithms are used to allow mobile robots to avoid obstacles and find ways from a start point to a target point. The general path planning algorithm focused on constructing of collision free path. However, a high continuous path can make smooth and efficiently movements. To improve the continuity of the path, the searched waypoints are connected by the proposed polynomial interpolation. The existing polynomial interpolation methods connect two points. In this paper, point groups are created with three points. The point groups have each polynomial. Polynomials are made by matching the differential values and simple matrix calculation. Membership functions are used to distribute the weight of each polynomial at overlapped sections. As a result, the path has continuity. In addition, the proposed method can analyze path numerically to obtain curvature and heading angle. Moreover, it does not require complex calculation and databases to save the created path.

Dual NURBS Path Smoothing for 5-Axis Linear Path of Flank Milling

Dongdong Li,Weimin Zhang,Wei Zhou,Tengfei Shang,Jürgen Fleischer 한국정밀공학회 2018 International Journal of Precision Engineering and Vol.19 No.12

Linear path is still widely used to describe the five-axis machining trajectory. Five-axis tool path consists of two parts, one trajectory describes the tool tip position, and the other one represents the second point on tool axis to define the tool orientation. The natural disadvantages of G01 path are tangential and curvature discontinuities at freeform surface, which will lead to feedrate fluctuation and accuracy decrease due to the drive constraints of machine tool. In this study, a path smoothing method is proposed to smooth and optimize the linear path by using dual NURBS curves. Firstly, according to the accuracy requirements, the tool tip spline can be fitted. Secondly, the tool orientation spline can also be obtained by a coordinate system mapping method. Then, the synchronization equation of the two spline parameters is established to achieve interpolation synchronization of cutter location points. Finally, the smoothing dual NURBS tool path can be obtained with continuous curvature to improve the surface quality, motion stability and machining efficiency. Simulations and experiments validate its practicability and reliability. This method is no need to upgrade the CAM, and also could be integrated into CAM system to perform the 5-axis path smoothing.

A Path-level Smooth Transition Method with Curvature Bound between Non-smoothly Connected Paths

최윤종(Yun Jong Choi),박부견(Poo Gyeon Park) 대한전자공학회 2008 電子工學會論文誌-SC (System and control) Vol.45 No.4

연속적인 경로 사이를 부드러운 곡선으로 잇기 위해서 기존의 로봇 제어기들은 일반적으로 연속적인 경로를 시간 축에서 합성하는 방법을 사용해 왔다. 하지만 이런 방법은 다음과 같은 두 가지 단점을 내재하고 있다. 천이 경로의 형태가 연접하게 생성될 수 없다는 점과 천이하는 동안 속력을 제어할 수 없다는 점이 그것이다. 이러한 문제점들을 극복하기 위해서 본 논문은 매끄럽지 않게 연결된 두 경로들을 부드럽게 잇기 위해 곡률이 제한된 새로운 천이 궤적 생성 방법을 제시하고자 한다. 실험 결과는 기존의 방법들보다 천이 궤적이 더 부드럽게 생성되는 것을 보여주며, 또한 보장된 곡률의 제한 수준은 0.02 ~ 1임을 보여준다. For a smooth transition between consecutive paths, conventional robot controllers usually generate a transition trajectory by blending consecutive paths in a time coordinate. However, this has two inherent drawbacks: the shape of a transition path cannot be designed coherently and the speed during transition is uncontrollable. To overcome these problems, this paper provides a path-level, rather than trajectory-level, smooth transition method with the curvature bound between non-smoothly connected paths. The experiment results show that the resultant transition trajectory is more smoothly connected than the conventional methods and the curvature is closely limited to the desired bound within the guaranteed level (0.02∼1).

무인차량의 주행성능을 고려한 장애물 격자지도 기반의 지역경로계획

이영일,이호주,고정호,Lee, Young-Il,Lee, Ho-Joo,Ko, Jung-Ho 한국군사과학기술학회 2010 한국군사과학기술학회지 Vol.13 No.2

A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.

Path-smoothing for a robot arm manipulator using a Gaussian process

Park, So-Youn,Lee, Ju-Jang The Korean Society of Industry Convergence 2015 한국산업융합학회 논문집 Vol.18 No.4

In this paper, we present a path-smoothing algorithm for a robot arm manipulator that finds the path using a joint space-based rapidly-exploring random tree. Unlike other smoothing algorithms which require complex mathematical computation, the proposed path-smoothing algorithm is done using a Gaussian process. To find the optimal hyperparameters of the Gaussian process, we use differential evolution hybridized with opposition-based learning. The simulation result indicates that the Gaussian process whose hyperparameters were optimized by hybrid differential evolution successfully smoothed the path generated by the joint space-based rapidly-exploring random tree.

Path-smoothing for a robot arm manipulator using a Gaussian process

So-Youn Park(박소연),Ju-Jang Lee(이주장) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.4

In this paper, we present a path-smoothing algorithm for a robot arm manipulator that finds the path using a joint space-based rapidly-exploring random tree. Unlike other smoothing algorithms which require complex mathematical computation, the proposed path-smoothing algorithm is done using a Gaussian process. To find the optimal hyperparameters of the Gaussian process, we use differential evolution hybridized with opposition-based learning. The simulation result indicates that the Gaussian process whose hyperparameters were optimized by hybrid differential evolution successfully smoothed the path generated by the joint space-based rapidly-exploring random tree.

A*PS-PGA를 이용한 무인 항공기 생존성 극대화 경로 계획

김기태(Ki Tae Kim),전건욱(Geonwook Jeon) 한국산업경영시스템학회 2011 한국산업경영시스템학회지 Vol.34 No.3

An Unmanned Aerial Vehicle (UAV) is a powered pilotless aircraft, which is controlled remotely or autonomously. UAVs are an attractive alternative for many scientific and military organizations. UAVs can perform operations that are considered to be risky or uninhabitable for human. UAVs are currently employed in many military missions such as reconnaissance, surveillance, enemy radar jamming, decoying, suppression of enemy air defense (SEAD), fixed and moving target attack, and air-to-air combat. UAVs also are employed in a number of civilian applications such as monitoring ozone depletion, inclement weather, traffic congestion, and taking images of dangerous territory. For accomplishing the UAV’s missions, guarantee of survivability should be preceded. The main objective of this study is to suggest a mathematical programming model and a A*PS-PGA (A-star with Post Smoothing-Parallel Genetic Algorithm) for an UAV’s path planning to maximize survivability. A mathematical programming model is composed by using MRPP (Most Reliable Path Problem) and TSP (Traveling Salesman Problem). A path planning algorithm for UAV is applied by transforming MRPP into SPP (Shortest Path Problem).