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A sampling-based algorithm for planning smooth nonholonomic paths

Beretta, Carolina ; Brizzolari, Cecilia ; Tateo, Davide LU orcid ; Riva, Alessandro and Amigoni, Francesco (2019) 2019 European Conference on Mobile Robots, ECMR 2019 In 2019 European Conference on Mobile Robots, ECMR 2019 - Proceedings
Abstract

The ability to navigate in an environment is essential to the autonomy of mobile robots and unmanned autonomous vehicles. Informally, path planning computes a collision-free path from a start location to a goal location in a known environment. Computing such paths accounting for the kinematics of the robot is a problem widely addressed in the literature, often focusing on feasibility and optimality of the planned paths. Although the smoothness of the paths is a major concern in most applications, the widely used sampling-based approaches often produce quirky winding paths. In this paper, we propose a novel path planning algorithm that is able to produce smooth paths, particularly when considering nonholonomic robot kinematics, like the... (More)

The ability to navigate in an environment is essential to the autonomy of mobile robots and unmanned autonomous vehicles. Informally, path planning computes a collision-free path from a start location to a goal location in a known environment. Computing such paths accounting for the kinematics of the robot is a problem widely addressed in the literature, often focusing on feasibility and optimality of the planned paths. Although the smoothness of the paths is a major concern in most applications, the widely used sampling-based approaches often produce quirky winding paths. In this paper, we propose a novel path planning algorithm that is able to produce smooth paths, particularly when considering nonholonomic robot kinematics, like the differential drive kinematics. Comparative experiments show the effectiveness of the proposed algorithm in producing smooth paths.

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author
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publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2019 European Conference on Mobile Robots, ECMR 2019 - Proceedings
series title
2019 European Conference on Mobile Robots, ECMR 2019 - Proceedings
editor
Preucil, Libor ; Behnke, Sven and Kulich, Miroslav
article number
8870949
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2019 European Conference on Mobile Robots, ECMR 2019
conference location
Prague, Czech Republic
conference dates
2019-09-04 - 2019-09-06
external identifiers
  • scopus:85074399816
ISBN
9781728136059
DOI
10.1109/ECMR.2019.8870949
language
English
LU publication?
no
id
4c8017a1-195f-480a-a3ee-e2be5402f94f
date added to LUP
2025-10-16 14:41:05
date last changed
2025-10-24 03:39:45
@inproceedings{4c8017a1-195f-480a-a3ee-e2be5402f94f,
  abstract     = {{<p>The ability to navigate in an environment is essential to the autonomy of mobile robots and unmanned autonomous vehicles. Informally, path planning computes a collision-free path from a start location to a goal location in a known environment. Computing such paths accounting for the kinematics of the robot is a problem widely addressed in the literature, often focusing on feasibility and optimality of the planned paths. Although the smoothness of the paths is a major concern in most applications, the widely used sampling-based approaches often produce quirky winding paths. In this paper, we propose a novel path planning algorithm that is able to produce smooth paths, particularly when considering nonholonomic robot kinematics, like the differential drive kinematics. Comparative experiments show the effectiveness of the proposed algorithm in producing smooth paths.</p>}},
  author       = {{Beretta, Carolina and Brizzolari, Cecilia and Tateo, Davide and Riva, Alessandro and Amigoni, Francesco}},
  booktitle    = {{2019 European Conference on Mobile Robots, ECMR 2019 - Proceedings}},
  editor       = {{Preucil, Libor and Behnke, Sven and Kulich, Miroslav}},
  isbn         = {{9781728136059}},
  language     = {{eng}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{2019 European Conference on Mobile Robots, ECMR 2019 - Proceedings}},
  title        = {{A sampling-based algorithm for planning smooth nonholonomic paths}},
  url          = {{http://dx.doi.org/10.1109/ECMR.2019.8870949}},
  doi          = {{10.1109/ECMR.2019.8870949}},
  year         = {{2019}},
}