Parametric Path Optimization for Wheeled Robots Navigation
Zhiqiang Jian,Songyi Zhang,Jiahui Zhang,Shitao Chen,Nanning Zheng,Zhiqiang Jian,Songyi Zhang,Jiahui Zhang,Shitao Chen,Nanning Zheng
Collision risk and smoothness are the most important factors in global path planning. Currently, planning methods that reduce global path collision risk and improve its smoothness through numerical optimization have achieved good results. However, these methods cannot always optimize the path. The reason is all points on the path are considered as decision variables, which leads to the high dimens...
