Abstract
Planning a reasonable path for underactuated robots with a minimum turning radius is essential, especially for high-speed Unmanned surface vehicles (USVs) or Autonomous underwater vehicles (AUVs) with poor mobility. This paper will propose a path planning algorithm that creates a B-spline curve interpolating multi-waypoints, optimized with a genetic algorithm (GA) under constraints of the vehicle’s turning radius and heading conditions in complex obstacle-filled environments. Then, this algorithm combines with the LOS guidance and sliding mode controller (SMC) to become complete guidance, navigation, and control system (GNC) for a USV model. This system is compared to a different GNC system with Dubins path planning to prove that our method generates a sub-optimal path and increases path following and WPs tracking performance in complex environments. Finally, this paper proposes an intelligent hybrid path planning system from those two mentioned above to take advantage of each. It is proved that this proposed algorithm can be applied to nonholonomic robots with minimum turning radius to create a path with high generality, suitable for practical applications and form a solid foundation for experiments in the near future.
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Acknowledgements
This research is funded by Ho Chi Minh City University of Technology (HCMUT), VNU-HCM, under grant number To-ĐĐT-2020-08. We acknowledge the support of time and facilities from the Laboratory of Advanced Design and Manufacturing Processes, HCMUT.
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Nguyen, AD., Tran, NH., Nguyen, TT., Nguyen, AT., Tran, TP. (2022). A Hybrid Multi-waypoints Path Planning System for Robots with Minimum Turning Radius Constraint Using GA-B-Spline and Dubins Interpolation. In: Long, B.T., Kim, H.S., Ishizaki, K., Toan, N.D., Parinov, I.A., Kim, YH. (eds) Proceedings of the International Conference on Advanced Mechanical Engineering, Automation, and Sustainable Development 2021 (AMAS2021). AMAS 2021. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-99666-6_133
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