Local Obstacle-Skirting Path Planning for a Fast Bi-steerable Rover using Bézier Curves
Mohamed Fnadi, Wenqian Du, Rafael Gomes da Silva, Frédéric Plumet, Falz Benamar
Abstract
This paper focuses on local path planning for obstacle avoidance tasks dedicated to off-road mobile robots. This approach calculates a new local path for the vehicle using a set of cubic Bezier curves once the safety distance is not respected; otherwise, the vehicle follows the global reference path which is defined off-line. Two basic steps are used to determine this new path. Firstly, some significant points that should belong to the planned path are extracted on-line according to the obstacle's sizes and the current state of the vehicle, these points are approved as waypoints. Secondly, on-line cubic Bezier curves are computed to create a smooth path for these points such that the safety and lateral stability of the vehicle are ensured (i.e., preventing huge curvatures and wide-variation in steering angles). This path will be used as a reference to be performed by the vehicle using a constrained model predictive control. The validation of our navigation strategy is performed via numerical simulations and experiments using a fast double-steering rover.
BibTeX
@inproceedings{icra2020_localobstacleski,
title = {Local Obstacle-Skirting Path Planning for a Fast Bi-steerable Rover using Bézier Curves},
author = {Mohamed Fnadi and Wenqian Du and Rafael Gomes da Silva and Frédéric Plumet and Falz Benamar},
booktitle = {ICRA 2020},
year = {2020}
}