23 Jul

#### Cubic Spline Smoother Algorithm

A cubic spline is a spline constructed of piecewise third-order polynomials which pass through a set of n control points. According to [1], a cubic spline $$S(x)$$ can be defined as: $$S(x)$$ is a cubic polynomial $$S_j(x)$$ on [$$x_j,x_{j+1}$$], for all $$j = 0,1,...,n-1$$. \(S_j(x) = a...

17 Jul

#### Way point smoother optimization

I finished the way point smoother optimization algorithm to replace B-spline curve algorithm to make sure the final smoother path will not collide with obstacles. The failure cases: After way point smoother optimization: Other cases using way point smoother optimization:

10 Jul

#### Bi-directional Target-Oriented RRT Based Path Planning Algorithm

I used 13 maps as the testing maps and implemented my algorithm, parameters of these maps: map name size initial point coordinate goal point coordinate duty cycles warran 1108 * 1301 (740,297) (430,1013) 0.347 map 1 500 * 500 (10,10) (490,490) 0.2444 map 2 500 * 500...

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