| Abstract: | In this paper, an interpolation-based path planning algorithm is employed for generating smooth paths on uniform resolution
grid-maps. First, it starts at the goal node and propagates through four neighboring nodes, assigning monotonically increasing
values to nodes using FMM (Fast Marching Method) interpolation. Consequently, we obtain a goal-propagation map that is zero-cost
at the goal node and monotonically increasing along the wavefront propagation from the goal node. Subsequently, it begins
from the robot’s position and uses a linear interpolation approach to generate nearoptimal paths. After obtaining the planned
path, an improved path following algorithm based on an improved virtual vehicle method is employed to follow the path considering
the robot’s dynamic and kinematic constraints. The experimental results demonstrate the performance of our approach. |
