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I'm calculating shortest path of a robot on a plane with polygonal obstacles. Everything works well and fast, no problems there. But, how to smoothen the path so it becomes curvy ? Below is a picture of a path connecting vertices with a straight line. P.S Robot is just a circle.
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Path planning is a robotics field on its own. Its solution gives a feasible collision-free path for going from one place to another. Humans do path planning without thinking how it is done. If there is an obstacle ahead that has not been there before, humans just pass it.
Robot path planning is essential for #robot accuracy and ensuring it avoids collisions. Path planning for industrial #robots is an essential aspect of the overall performance of #automation systems. This process is vitally important to ensure path planning is accurate, safe, and efficient.
Its main aim is to generate the trajectory from initial to goal that satisfies some objectives, like minimization of Time interval, Acceleration, Joint Jerk, Torque, Vibration, mechanical energy consumption of Actuator and obstacle, collision avoidance criteria by satisfying the manipulator's kinematic and dynamic ...
Dijkstra's algorithm is a classic algorithm for finding the shortest path between two points due to its optimisation capability.
This paper might be useful. It looks like it's a non-trivial problem. Abstract:
Automatic graph drawers need to compute paths among ver- tices of a simple polygon which besides remaining in the interior need to exhibit certain aesthetic properties. Some of these require the incorpo- ration of some information about the polygonal shape without being too far from the actual shortest path. We present an algorithm to compute a locally convex region that “contains” the shortest Euclidean path among two vertices of a simple polygon. The region has a boundary shape that “follows” the shortest path shape. A cubic Bezier spline in the region in- terior provides a “short and smooth” collision free curve between the two given vertices. The obtained results appear to be aesthetically pleasant and the methods used may be of independent interest. They are elemen- tary and implementable. Figure 7 is a sample output produced by our current implementation.
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