AN APPROACH TO PATH SMOOTHING FOR WHEELED MOBILEROBOTS BASED ON QUADTREE ENVIRONMENT MODEL

摘要

Path smoothing is necessary for wheeled mobile robots due to existence of nonholonomic constraints. A novel approach is proposed to create a smooth path based on quadtree environment model. quadtree environment model is introduced in brief firstly, and then smoothing relative mechanism is put forward for every case after analyzing the structure of path. At last, an algorithm is provided, and some simulation experiments are conducted to validate this approach.