Connections for Path Planning in Mobile Robotics

Abstract

This work presents the theoretical solutions that are possible for connecting the linear segments of the global trajectories developed for mobile robots in their operating scenes. Generated most often in a purely polygonal form by the global planner of trajectories, they cannot be executed directly than by mobile robots that have the pivotal capability around their axis of vertical symmetry. For all the other constructive structures of the mobile robots and whatever type of their control, e.g. with the trajectory stored in memory or with the wired trajectory mapped on the ground, these techniques are needed. This paper presents three techniques for connecting the polygonal paths using only pure circular arcs, circular arcs and splines curves, respectively arcs of clothoid. Theoretical support of each method, examples and the assessment of specific influences on the behavior of a mobile robot at changing sections on trajectory are included.