| Summary: | 碩士 === 國立雲林科技大學 === 資訊工程系碩士班 === 100 === In this thesis, a Bezier Curve based optimizing approach is proposed for path planning of multiple nonholonomic robots which have minimum turning radius constraint. The proposed path planning algorithm consists of global path planner (GP), local motion planner (MP) and optimizing planner (OP). The Voronoi diagram, Memetic algorithm and Bezier curve algorithm are used in the three stages, respectively.
In the first stage, the GP, an A* searching algorithm, finds a path within the Voronoi diagram (VD) of the free space. In the second stage, the center of swarm robots should move along the planned path. The MP based on Memetic algorithm (MA) computes an individual collision-free trajectory for each robot. In the third stage, the waypoints obtained from the previous stage are considered as control points of Bezier curves. Thus, an optimal path with minimum turning radius constraint can be obtained. Since the proposed algorithm also takes the collision avoidance into account, a new smoothing approach combining second-order Bezier curve and third-order Bezier curve is proposed. The simulation results show that the obtained paths are satisfied the optimal requirements of path smooth, minimum turning radius constraint, shortest path and computation efficiency.
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