A Review of Path Smoothness Approaches for Non-holonomic Mobile Robots

Non-holonomic mobile robots are used in various disciplines such as mining, cleaning, medical surgery, autonomous cars, security and surveillance applications. Path planning algorithms, such as A*, D*, PRM, RRT* and RRT*-AB generate rectilinear (linear piece-wise) path for non-holonomic robots. Path following or trajectory tracking algorithms are used to move robots on path generated by these planners. However, robots confront issues of mechanical ageing, premature damage and difficulty to follow rectilinear path due to non-holonomic constraints on motion. Therefore, path smoothing methodologies are essential for practical application of non-holonomic robots. A number of path smoothing approaches have been used to make planner generated rectilinear path feasible for non-holonomic robots. This paper presents a review of major smoothing approaches along with their advantages, disadvantages and challenges.

[1]  Arto Visala,et al.  Path Planning Algorithms for Agricultural Machines , 2007 .

[2]  Salah Sukkarieh,et al.  An Efficient Path Planning and Control Algorithm for RUAV’s in Unknown and Cluttered Environments , 2010, J. Intell. Robotic Syst..

[3]  R. Sreerama Kumar,et al.  A Bezier curve based path planning in a multi-agent robot soccer system without violating the acceleration limits , 2009, Robotics Auton. Syst..

[4]  Stefano Di Cairano,et al.  Continuous curvature path planning for semi-autonomous vehicle maneuvers using RRT , 2015, 2015 European Control Conference (ECC).

[5]  Zulfiqar Habib,et al.  Cubic Spiral Transition Matching G^2 Hermite End Conditions , 2011 .

[6]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[7]  Xin Wang,et al.  Lift path planning for a nonholonomic crawler crane , 2014 .

[8]  Gerald Farin.  18 – Practical Aspects of Bézier Triangles , 2002 .

[9]  Lydia E. Kavraki,et al.  Probabilistic roadmaps for path planning in high-dimensional configuration spaces , 1996, IEEE Trans. Robotics Autom..

[10]  David Hsu,et al.  Placing a robot manipulator amid obstacles for optimized execution , 1999, Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470).

[11]  Zulfiqar Habib,et al.  Fairing arc spline and designing by using cubic bézier spiral segments , 2012 .

[12]  L. Shepp,et al.  OPTIMAL PATHS FOR A CAR THAT GOES BOTH FORWARDS AND BACKWARDS , 1990 .

[13]  Salah Sukkarieh,et al.  3D smooth path planning for a UAV in cluttered natural environments , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Thierry Fraichard,et al.  From Reeds and Shepp's to continuous-curvature paths , 1999, IEEE Transactions on Robotics.

[15]  Wolfram Burgard,et al.  Kinodynamic motion planning for mobile robots using splines , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  P. Tompkins,et al.  Global path planning for Mars rover exploration , 2004, 2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720).

[17]  Emilio Frazzoli,et al.  Sampling-based algorithms for optimal motion planning , 2011, Int. J. Robotics Res..

[18]  P. Bézier.  Numerical control : mathematics and applications , 1972 .

[19]  Junfei Qiao,et al.  Path planning algorithm based on sub-region for agricultural robot , 2010, 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010).

[20]  Milan Simic,et al.  Sampling-Based Robot Motion Planning: A Review , 2014, IEEE Access.

[21]  L. Dubins.  On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents , 1957 .

[22]  Amna Khan,et al.  Online complete coverage path planning using two-way proximity search , 2017, Intell. Serv. Robotics.

[23]  S. LaValle,et al.  Randomized Kinodynamic Planning , 2001 .

[24]  Sangwoo Moon,et al.  Spline-Based RRT Path Planner for Non-Holonomic Robots , 2013, Journal of Intelligent & Robotic Systems.

[25]  Salah Sukkarieh,et al.  Continuous curvature path-smoothing algorithm using cubic B zier spiral curves for non-holonomic robots , 2013, Adv. Robotics.

[26]  Jean-Paul Laumond,et al.  Primitives for smoothing mobile robot trajectories , 1995, IEEE Trans. Robotics Autom..

[27]  Milan Simic,et al.  Continuous Path Smoothing for Car-Like Robots Using B-Spline Curves , 2015, J. Intell. Robotic Syst..

[28]  Roland Siegwart,et al.  3D path planning and execution for search and rescue ground robots , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[29]  Christoph Sprunk,et al.  Planning Motion Trajectories for Mobile Robots Using Splines , 2008 .

[30]  Amna Khan,et al.  Optimal Path Planning for Mobile Robots Using Memory Efficient A* , 2016, 2016 International Conference on Frontiers of Information Technology (FIT).

[31]  Kwangjin Yang.  An efficient Spline-based RRT path planner for non-holonomic robots in cluttered environments , 2013, 2013 International Conference on Unmanned Aircraft Systems (ICUAS).

[32]  Uk-Youl Huh,et al.  A G2 Continuous Path-smoothing Algorithm Using Modified Quadratic Polynomial Interpolation , 2014 .

[33]  Bruce Randall Donald,et al.  Kinodynamic motion planning , 1993, JACM.

[34]  Zulfiqar Habib,et al.  Admissible regions for rational cubic spirals matching G2 Hermite data , 2010, Comput. Aided Des..

[35]  Dong Sun,et al.  Minimizing Energy Consumption of Wheeled Mobile Robots via Optimal Motion Planning , 2014, IEEE/ASME Transactions on Mechatronics.

[36]  Amna Khan,et al.  Optimal Path Planning using RRT* based Approaches: A Survey and Future Directions , 2016 .

[37]  Zulfiqar Habib,et al.  G2 cubic transition between two circles with shape control , 2009 .

[38]  C. D. Boor,et al.  On Calculating B-splines , 1972 .

[39]  Zulfiqar Habib,et al.  Rational cubic spline interpolation with shape control , 2005, Comput. Graph..

[40]  B. Barsky,et al.  An Introduction to Splines for Use in Computer Graphics and Geometric Modeling , 1987 .

[41]  Amna Khan,et al.  Coverage Path Planning of Mobile Robots Using Rational Quadratic Bézier Spline , 2016, 2016 International Conference on Frontiers of Information Technology (FIT).

[42]  Masaru Ishii,et al.  Robotic Path Planning for Surgeon Skill Evaluation in Minimally-Invasive Sinus Surgery , 2012, MICCAI.