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Review

Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges

1
School of Regional Innovation and Social Design Engineering, Faculty of Engineering, Kitami Institute of Technology, Kitami, Hokkaido 090-8507, Japan
2
Division of Human Mechanical Systems and Design, Faculty of Engineering, Hokkaido University, Sapporo, Hokkaido 060-8628, Japan
3
Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan 701, Taiwan
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Sensors 2018, 18(9), 3170; https://doi.org/10.3390/s18093170
Received: 8 August 2018 / Revised: 14 September 2018 / Accepted: 17 September 2018 / Published: 19 September 2018
(This article belongs to the Special Issue Mobile Robot Navigation)
Robot navigation is an indispensable component of any mobile service robot. Many path planning algorithms generate a path which has many sharp or angular turns. Such paths are not fit for mobile robot as it has to slow down at these sharp turns. These robots could be carrying delicate, dangerous, or precious items and executing these sharp turns may not be feasible kinematically. On the contrary, smooth trajectories are often desired for robot motion and must be generated while considering the static and dynamic obstacles and other constraints like feasible curvature, robot and lane dimensions, and speed. The aim of this paper is to succinctly summarize and review the path smoothing techniques in robot navigation and discuss the challenges and future trends. Both autonomous mobile robots and autonomous vehicles (outdoor robots or self-driving cars) are discussed. The state-of-the-art algorithms are broadly classified into different categories and each approach is introduced briefly with necessary background, merits, and drawbacks. Finally, the paper discusses the current and future challenges in optimal trajectory generation and smoothing research. View Full-Text
Keywords: robot trajectory smoothing; robot navigation; path planning; autonomous vehicle motion planning robot trajectory smoothing; robot navigation; path planning; autonomous vehicle motion planning
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MDPI and ACS Style

Ravankar, A.; Ravankar, A.A.; Kobayashi, Y.; Hoshino, Y.; Peng, C.-C. Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges. Sensors 2018, 18, 3170. https://doi.org/10.3390/s18093170

AMA Style

Ravankar A, Ravankar AA, Kobayashi Y, Hoshino Y, Peng C-C. Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges. Sensors. 2018; 18(9):3170. https://doi.org/10.3390/s18093170

Chicago/Turabian Style

Ravankar, Abhijeet, Ankit A. Ravankar, Yukinori Kobayashi, Yohei Hoshino, and Chao-Chung Peng. 2018. "Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges" Sensors 18, no. 9: 3170. https://doi.org/10.3390/s18093170

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