Mobile Robot Path Planning Using Bezier Curve Segmentation
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Solution Overview
Problem
Current path planning methods for mobile robots are inflexible, requiring stop points to be situated at nodes, which limits connectivity and efficiency, and cannot easily adjust paths or allow robots to stop at arbitrary positions without increasing the number of nodes.
Innovation Solution
A path planning method that searches for available paths based on node properties, determines the optimum path using weighted Bezier or splined curves, and allows robots to rotate at rotatable nodes and stop at arbitrary positions along segments, without altering the existing map configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If stop points are required to be situated at nodes, then path planning is simple, but flexibility is reduced and connectivity between nodes is limited
Solution Approach 1:
The patent divides each map edge into multiple equal-length segments, transforming the continuous path into discrete segment units. This allows stop points to be positioned at any segment endpoint along an edge, not just at map nodes, thereby increasing flexibility while maintaining structured path planning.
Solution Approach 2:
The patent introduces a new dimensional structure by creating a segment graph that overlays the original map. Instead of only connecting nodes directly, the segment graph connects segment endpoints, adding an intermediate dimension of path planning that enables arbitrary stop positions without modifying the original map structure.
2Adaptability or versatility
If the number of nodes is increased to allow arbitrary stop positions, then flexibility improves, but device complexity and map configuration complexity increase
Solution Approach 1:
By segmenting edges into standardized units rather than creating additional nodes, the patent achieves arbitrary stop positions without increasing map configuration complexity. The segment graph is generated algorithmically from existing edges, avoiding manual map editing.
Solution Approach 2:
The patent creates a virtual segment graph that copies and processes the original map structure. This copy contains the segment information needed for flexible stop positioning, while the original map remains unchanged, avoiding complexity in the base configuration.
3Adaptability or versatility
If multiple connection ways between nodes are provided, then connectivity and path options increase, but path selection complexity increases
Solution Approach 1:
The patent pre-calculates and stores all possible paths in the segment graph before actual path planning occurs. By preparing the segment connectivity structure in advance, the system enables quick path selection during operation without real-time computational complexity.
Solution Approach 2:
The segment graph dynamically adapts to different path planning needs by allowing flexible combination of segments. The same segment graph structure can serve multiple path planning scenarios, making the system adaptable without requiring separate configurations for each path option.
Data Source
AI summary
A path planning method is provided for mobile robots, including the following steps: Step 1. Searching for available paths according to the destinations of moving of the robots and the nodes properties on the map; Step 2. Determining the optimum path, according to the weights of the segments on all the available paths, with the segments being arbitrary curves made up of Bezier curves or splined curves of a plurality of control points; and Step 3. Driving the robots to move along the optimum path, and to stop at the stop points. The present path planning method for mobile robots increases the ways of connection between the nodes significantly and avoids that there is only a single way of connection between two nodes.