Title:
GLOBAL PATH PLANNING USING PIECEWISE SIGMOID CURVES
Document Type and Number:
WIPO Patent Application WO/2021/012125
Kind Code:
A1
Abstract:
The field relates to robot motion and a global path plan for a robot. Global paths are planned using piecewise Sigmoid curves by determining an initial valid path for guiding a robot from a starting position to an ending position, dividing the initial valid path into a plurality of individual segments of the initial valid path, and fitting a separate Sigmoid curve respectively to each of the plurality of individual segments of the initial valid path based on parameters of at least one of smoothness and security to produce a piecewise Sigmoid curve path.
Inventors:
NEESCHAL CHAND ANEESH (JP)
YUAN KEBIN (CN)
YUAN KEBIN (CN)
Application Number:
PCT/CN2019/096909
Publication Date:
January 28, 2021
Filing Date:
July 19, 2019
Export Citation:
Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
G05D1/02
Foreign References:
| CN108253984A | 2018-07-06 | |||
| CN105955280A | 2016-09-21 | |||
| CN109227549A | 2019-01-18 | |||
| US20140100693A1 | 2014-04-10 | |||
| US9804603B1 | 2017-10-31 |
Other References:
UPADHYAY, SAURABH ET AL.: "Continuous-Curvature Path Planning With Obstacle Avoidance Using Four Parameter Logistic Curves", IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 1, no. 2, 31 July 2016 (2016-07-31), pages 609 - 616, XP011602394, DOI: 20200401174600Y
COLE KENAN ET AL.: "Reactive Trajectory Generation for Multiple Vehicles in Unknown Environments With Wind Disturbances", XPO 11690922
MARTINEZ-ALFARO H ET AL.: "Collision-free path planning for mobile robots and/or AGVs using simulated annealing", XP010138896
See also references of EP 3994537A4
COLE KENAN ET AL.: "Reactive Trajectory Generation for Multiple Vehicles in Unknown Environments With Wind Disturbances", XPO 11690922
MARTINEZ-ALFARO H ET AL.: "Collision-free path planning for mobile robots and/or AGVs using simulated annealing", XP010138896
See also references of EP 3994537A4
Download PDF: