Robot path planning based on TGSA and three-order bezier curve

In view of the problem of robot's weak global search ability and motion safety in robot path planning, this paper puts forward a robot path smoothing mechanism based on the Tree Growth Simulation Algorithm (TGSA) and Third-order Bezier Curve. In the environment modeling, the honeycomb grid map (Honeycomb Grid Map, HGM) is applied to divide the environment map into the hexagonal grid with the same size, so that the step angle becomes smaller when the robot bypasses the obstacle, which alleviates the collision problem caused by inertia to some degree. In terms of path search, based on the principle of phototropism of plants, the tree growth simulation algorithm was adopted to carry out global traversal path optimization, which can effectively bypass the obstacle and find out the optimal path. In the path smoothing, the Third-order Bezier curve is applied to smooth the path. The path selection mechanism is established based on whether there is obstacle on the smoothed path, and an optimal smooth path is obtained. The final comparison experiments verify that the safety and smoothness of the robot in this method are improved. © 2018 Lavoisier.