Abstract
This paper addresses the path planning problem for autonomous mobile robots operating in an unknown environment with obstacles. Paths are formed based on third-order Bezier splines and, then, are corrected on the move as a robot detects obstacles with its onboard sensors. During this correction, the initial path between two reference points is divided into two segments (described by Bezier splines) in such a way as to allow the robot to move at a safe distance from a detected obstacle along a smooth resultant trajectory. In this case, the use of smooth paths ensures a high levels of accuracy and velocity of mobile robots during their operation.
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Original Russian Text © V.F. Filaretov, D.A. Yukhimets, 2017, published in Izvestiya Akademii Nauk, Teoriya i Sistemy Upravleniya, 2017, No. 4, pp. 174–176.
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Filaretov, V.F., Yukhimets, D.A. Planning smooth paths for mobile robots in an unknown environment. J. Comput. Syst. Sci. Int. 56, 738–748 (2017). https://doi.org/10.1134/S1064230717040098
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DOI: https://doi.org/10.1134/S1064230717040098