Real-Time Path Smoothing for Mobile Robots in 2D and 3D Environments

抄録

This paper presents a path smoother to smooth the sharp turns of 2D and 3D paths of UGVs and UAVs. The proposed algorithm can smooth the paths in real-time, and can be used with any of the path planners. The algorithm adjusts the curvature of smooth paths according to the obstacles in vicinity. The algorithm works for finding nodes on the robot paths and diffuses those nodes to fit curves for smooth traversal. The amount of diffusion of points is controlled by the position of the obstacles and the dimensions of the robot body. The method can generate smooth paths in real time.