A path planner enabling second-order continuity across multiple motion modes of the generalized bicycle model
Journal
International Journal of Advanced Robotic Systems
Journal Volume
21
Journal Issue
5
ISSN
1729-8806
1729-8814
Date Issued
2024-09
Author(s)
DOI
10.1177/17298806241277195
Abstract
In mobile robotics, the generalized bicycle model is notable for its agility and diverse motion capabilities. However, current path planning methods often overlook its potential for multiple motion modes, leading to impractical paths and collision risks in complex environments. To address this, our study introduces a novel path planning algorithm that utilizes the generalized bicycle model and ensures second-order continuity, crucial for smooth and safe navigation. We establish rigorous second-order continuity conditions for seamless motion mode transitions and derive criteria for each mode. Our algorithm integrates these conditions with the rapidly exploring random tree concept to generate optimal paths that accommodate the model’s mode-changing capabilities. Through tests in challenging environments, our method demonstrates improved performance, especially in narrow passages, enhancing path planning safety and efficiency for mobile robots. This advancement significantly contributes to the field of robotic path planning by offering a more dynamic and reliable approach to autonomous navigation.
Subjects
generalized bicycle model
motion planning
path continuity
Path planning
SDGs
Publisher
SAGE Publications
Type
journal article