Component-wise method of smoothing curvature of spatial paths constructed by noisy measurements in robot motion planning problems
A motion planning problem for a robot is considered. When robot follows a path in a manual mode, its positions are measured by a GNSS receiver. To repeat this trajectory in the automated mode, it is required to construct a geometric path that satisfies certain smoothness requirements and curvature constraints. The paper proposes a component-wise method for improving curvature of 3D path consisting of uniform cubic B-splines. The discussion is illustrated by numerical examples of application of the proposed method to real vehicle and helicopter trajectories measured by a GNSS receiver.