Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/complexity/volume-2018/4359036/figures/4359036.fig.009a.svgz" name="4359036.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Path planned by DAPF</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/complexity/volume-2018/4359036/figures/4359036.fig.009b.svgz" name="4359036.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Path planned by DAPF</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/complexity/volume-2018/4359036/figures/4359036.fig.009c.svgz" name="4359036.fig.009c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Path planned by DAPF</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/complexity/volume-2018/4359036/figures/4359036.fig.009d.svgz" name="4359036.fig.009d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Path planned by the proposed approach</td></tr></table>

<div>Simulation results of the DAPF and the smooth path planning approach in case 2, scenario 2.</div>

Complexity

fig9

Figure 9

Figure 9: Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles 