Mobile Robot Path Planning Under Kinematic Constraints by Metaheuristic B-Spline Optimization

Global path planning is a crucial component in mobile robot navigation. To provide a good basis that is both feasible and yields fast motion, it should include both robot kinematics and collision avoidance. We introduce a new end-to-end algorithm to solve the mobile robot path planning problem for non-holonomic robots. We consider maximum steering angle, velocity, and acceleration constraints to optimize paths for both collision-avoidance and short tracking time. To this end, we employ B-Splines and metaheuristic optimization algorithms. Experiments show the suitability of our algorithm.