engleski

The application of spline functions and Bézier curves to AGV path planning

The paper describes a path planning method for an automated guided vehicle (AGV). The method consists of two steps, the calculation of a path by using Bézier curves and the calculation of a path trajectory by using a Ho and Cook spline-interpolation algorithm. The generation of parallel path curves for left-hand and right-hand AGV wheels is elaborated. The solution for the generation of sharp curves is derived. The proposed path planning method has been tested on tricycle-type AGVs with a front stabilization wheel and two rear powered wheels.

path planning; Bézier curves; AGV

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