A Smooth Global Path Planning Method for Unmanned Surface Vehicles Using A Novel Combination of Rapidly Exploring Random Tree and Bézier Curves
Yükleniyor...
Dosyalar
Tarih
2024
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
MDPI, ST ALBAN-ANLAGE 66, CH-4052 BASEL, SWITZERLAND
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
Developing autonomous navigation techniques for surface vehicles remains an important
research area, and accurate global path planning is essential. For mobile robots—particularly for
Unmanned Surface Vehicles (USVs)—a key challenge is ensuring that sharp turns and sharp breaks
are avoided. Therefore, global path planning must not only calculate the shortest path but also
provide smoothness. Bézier Curves are one of the main methods used for smoothing paths in the
literature. Some studies have focused on turns alone; however, continuous path smoothness across the
entire trajectory enhances navigational quality. Contrary to similar studies, we applied Bézier Curves
whose control polygon is defined by an RRT path and thus avoided a multi-objective formulation. In
the final stage of our approach, we proposed a control point reduction method in order to decrease
the time complexity without affecting the feasibility of the path. Our experimental results suggest
significant improvements for multiple map sizes, in terms of path smoothness.
Açıklama
Anahtar Kelimeler
RRT, Bézier Curve, USV, global path planning, path smoothing
Kaynak
SENSORS
WoS Q Değeri
Q2
Scopus Q Değeri
Cilt
24
Sayı
24
Künye
Türkkol, B.Z.; Altunta¸s, N.;
Çekirdek Yavuz, S. A Smooth Global
Path Planning Method for Unmanned
Surface Vehicles Using A Novel
Combination of Rapidly Exploring
Random Tree and Bézier Curves.
Sensors 2024, 24, 8145. https://
doi.org/10.3390/s24248145
