Bézier Curve based Path Planning for an Intelligent Wheelchair to pass a Doorway

Ling Chen; Sen Wang; Huosheng Hu; Klaus McDonald-Maier

doi:10.1109/CONTROL.2012.6334653

Bézier Curve based Path Planning for an Intelligent Wheelchair to pass a Doorway

Ling Chen, Sen Wang, Huosheng Hu, Klaus McDonald-Maier

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

21 Citations (Scopus)

Abstract

Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel approach to address the door passing issue using Bézier curve based trajectory planning. The planed path consists of two segments: one from corridor to door and the other from door to the goal position. For each segment, an optimal Bézier curve is generated as a reference trajectory for an intelligent wheelchair to travel smoothly and accurately subject to corridor constraints, curvature limitation and obstacles. The simulation is conducted to verify the feasibility of the proposed approach, and the results show a good performance in terms of tracking accuracy and good maneuverability.

Original language	English
Title of host publication	United Kingdom Automatic Control Council International Conference on Control (UKACC)
Place of Publication	Piscataway (New Jersey)
Publisher	IEEE
Pages	339-344
Number of pages	6
ISBN (Electronic)	978-1-4673-1560-9, 978-1-4673-1558-6
ISBN (Print)	978-1-4673-1559-3
DOIs	https://doi.org/10.1109/CONTROL.2012.6334653
Publication status	Published - 22 Oct 2012

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@inproceedings{41d9ea2e50ba4d86869cb9cb4e00dc9e,

title = "B{\'e}zier Curve based Path Planning for an Intelligent Wheelchair to pass a Doorway",

abstract = "Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel approach to address the door passing issue using B{\'e}zier curve based trajectory planning. The planed path consists of two segments: one from corridor to door and the other from door to the goal position. For each segment, an optimal B{\'e}zier curve is generated as a reference trajectory for an intelligent wheelchair to travel smoothly and accurately subject to corridor constraints, curvature limitation and obstacles. The simulation is conducted to verify the feasibility of the proposed approach, and the results show a good performance in terms of tracking accuracy and good maneuverability.",

author = "Ling Chen and Sen Wang and Huosheng Hu and Klaus McDonald-Maier",

year = "2012",

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doi = "10.1109/CONTROL.2012.6334653",

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T1 - Bézier Curve based Path Planning for an Intelligent Wheelchair to pass a Doorway

AU - Chen, Ling

AU - Wang, Sen

AU - Hu, Huosheng

AU - McDonald-Maier, Klaus

PY - 2012/10/22

Y1 - 2012/10/22

N2 - Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel approach to address the door passing issue using Bézier curve based trajectory planning. The planed path consists of two segments: one from corridor to door and the other from door to the goal position. For each segment, an optimal Bézier curve is generated as a reference trajectory for an intelligent wheelchair to travel smoothly and accurately subject to corridor constraints, curvature limitation and obstacles. The simulation is conducted to verify the feasibility of the proposed approach, and the results show a good performance in terms of tracking accuracy and good maneuverability.

AB - Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel approach to address the door passing issue using Bézier curve based trajectory planning. The planed path consists of two segments: one from corridor to door and the other from door to the goal position. For each segment, an optimal Bézier curve is generated as a reference trajectory for an intelligent wheelchair to travel smoothly and accurately subject to corridor constraints, curvature limitation and obstacles. The simulation is conducted to verify the feasibility of the proposed approach, and the results show a good performance in terms of tracking accuracy and good maneuverability.

U2 - 10.1109/CONTROL.2012.6334653

DO - 10.1109/CONTROL.2012.6334653

M3 - Conference contribution

SN - 978-1-4673-1559-3

SP - 339

EP - 344

BT - United Kingdom Automatic Control Council International Conference on Control (UKACC)

PB - IEEE

CY - Piscataway (New Jersey)

ER -

Bézier Curve based Path Planning for an Intelligent Wheelchair to pass a Doorway

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