Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges

Area of Science:

• Robotics
• Artificial Intelligence
• Control Systems

Background:

• Mobile robot navigation relies heavily on path planning.
• Existing algorithms often produce paths with sharp turns, hindering robot efficiency and safety.
• Smooth trajectories are essential for robots carrying sensitive payloads or operating in dynamic environments.

Purpose of the Study:

• To review and summarize path smoothing techniques in robot navigation.
• To discuss challenges and future trends in optimal trajectory generation.
• To provide a comprehensive overview for both mobile service robots and autonomous vehicles.

Main Methods:

• Classification of state-of-the-art path smoothing algorithms.
• Brief introduction to each approach, including background, merits, and drawbacks.
• Discussion of constraints such as curvature, robot dimensions, and speed.

Main Results:

• Categorization of various path smoothing methods.
• Analysis of the advantages and disadvantages of different techniques.
• Identification of key considerations for smooth trajectory generation.

Conclusions:

• Path smoothing is critical for efficient and safe robot navigation.
• Further research is needed to address current and future challenges in optimal trajectory generation.
• The review provides a foundation for understanding and advancing robot motion planning.