Türkkol Betül Z, Altuntaş Nihal, Çekirdek Yavuz Sırma
Computer Engineering, Faculty of Electrical & Electronics, Yildiz Technical University, 34220 Istanbul, Türkiye.
Computer Engineering, Faculty of Engineering and Architecture, Istanbul Gelisim University, 34310 Istanbul, Türkiye.
Sensors (Basel). 2024 Dec 20;24(24):8145. doi: 10.3390/s24248145.
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.
为水面舰艇开发自主导航技术仍然是一个重要的研究领域，精确的全局路径规划至关重要。对于移动机器人，特别是无人水面舰艇（USV）而言，一个关键挑战是确保避免急转弯和急刹车。因此，全局路径规划不仅要计算最短路径，还要保证平滑性。贝塞尔曲线是文献中用于路径平滑的主要方法之一。一些研究仅关注转弯；然而，整个轨迹上的连续路径平滑性可提高导航质量。与类似研究不同，我们应用了由RRT路径定义控制多边形的贝塞尔曲线，从而避免了多目标公式化。在我们方法的最后阶段，我们提出了一种控制点减少方法，以在不影响路径可行性的情况下降低时间复杂度。我们的实验结果表明，对于多种地图尺寸，在路径平滑性方面有显著改进。
