Computation of continuous sequential reference paths from discrete optimal paths for mobile robots

This paper presents an new general solution for sequential calculation of continuous reference paths for path tracking of whiled mobile robots. The intelligent computational algorithms to find and optimize the reference paths results in discrete paths defined by knots, simple geometric prototypes, etc. This kind of path can not be directly used in the control design, because of it’s discrete nature and because it usually consists of a large number of knot points in the operation space of mobile robot. The resulting discrete path is therefore smoothed sequentially, going from the starting knot point to the end, taking into account only small number of discrete path point knots. The resulting spline curve is smooth and predictable without unintended overshooting or loops. Since the path is calculated algebraically, the computational complexity of the algorithm is predictable. The presented example is from a real-world solution for a whiled mobile robot used in rehabilitation.