DP⁃B 样条移动机器人路径光滑算法

Aiming at the problem of too many redundant points and more turning points of paths generated by the Rapidly⁃exploring Random Tree algorithm (RRT), this paper proposes a path smoothing algorithm based on Douglas⁃Peucker algorithm and B⁃spline function to solve it. Firstly, the Douglas⁃Peucker (DP) algorithm is used to extract several nodes from the path nodes which generated by the RRT algorithm as key road signs. Then, in order to achieve a smooth planning path, the B⁃spline function is used to fit the key road signs to obtain a smooth path with continuous curvature. By experimenting in different environments and comparing the tests obtained by other path smoothing algorithms, the results show that the algorithm can significantly cut down the path length and reduce the transition number of optimized path, and it also greatly improve the smoothness of the optimized path. It is beneficial to reduce the energy consumption of the robot in a single voyage and make it complete more tasks, which can improve the robot′s working efficiency effectively.