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Time-optimized 3D Path Smoothing with Kinematic Constraints

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  • Robot and Applications
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Abstract

This paper proposes a novel time-optimized smoothing algorithm, that optimizes a path planner output, considering three dimensional (3D) kinematic constraints. First, a path from the start to goal position is obtained using a path planner algorithm. To find a locally time-optimal smooth trajectory between path planner output nodes, an optimization of Bezier curve control point positions is employed. The optimization method considers the obstacle avoidance as well as kinematic constraints, and minimizes the arc length of the proposed trajectory section with constant maximal linear velocity model. Bezier curves are calculated in a piece-wise manner and connected with a G2 continuity to obtain a continuous trajectory. Simulation experimental results are included to verify the feasibility of the proposed method and express the improvement with regards to the arc length over similar path smoothing approaches, while satisfying more complex full three dimensional kinematic constraints, instead of maximal curvature. The proposed method produces shorter constrained paths in uncluttered environment as well as in environments with obstacles.

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Authors and Affiliations

  1. Department of Intelligent Robot Engineering, Hanyang University, Seoul, Korea

    Reinis Cimurs

  2. Department of Electronics and Computer Engineering, Hanyang University, Seoul, Korea

    Il Hong Suh

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  1. Reinis Cimurs
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Correspondence to Il Hong Suh.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Ning Sun under the direction of Editor Myo Taeg Lim. This work was supported by the Technology Innovation Program (Industrial Strategic Technology Development, 10080638) funded by the Ministry of Trade, Industry & Energy (MOTIE), Korea.

Reinis Cimurs received his B.S. degree in Automation and Computer Control from Riga Technical University in 2011 and his M.S. degree in Automation and Computer Control from Riga Technical University in {dy2014}. Currently he is a Ph.D. scholar in Department of Intelligent Robot Engineering, Hanyang University, Seoul, Korea. His research interests include path planning, non-holonomic path smoothing, robot navigation and deep learning.

Il Hong Suh received his B.S. degree in electronics engineering from Seoul National University, Seoul, Korea, and his M.S. and Ph.D. degrees in electrical engineering from Korea Advanced Institute of Science and Technology, Daejeon, Korea. He is currently a full time Professor with the Department of Electronic Engineering, College of Engineering, Hanyang University, Seoul. In 2009, he founded Korea National Robotics-Specialized Education Center (RoSEC) and has served as the Leader of RoSEC to foster professionals for intelligent robot industry. He published numerous articles on control and robot system design, especially for robot manipulators with redundancy at kinematic level and/or actuation level for first 20 years after completing his Ph.D works. Since then, his research interests have been focused on visual navigation, cognition and skill learning for affordable service robots.

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Cimurs, R., Suh, I.H. Time-optimized 3D Path Smoothing with Kinematic Constraints. Int. J. Control Autom. Syst. 18, 1277–1287 (2020). https://doi.org/10.1007/s12555-019-0420-x

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  • DOI: https://doi.org/10.1007/s12555-019-0420-x

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