Path generation algorithm using piecewise polynomials and its application to obstacle avoidance

A path generation algorithm using piecewise polynomials is proposed. The algorithm has two steps. First, intermittent data given by operators are converted to intermediate data which include high-order differential information. Secondly, continuous paths are calculated as a state trajectory of the linear free system using intermediate data. The path generation algorithm is applied to the obstacle avoidance problem. To show the availability of this algorithm in the case of the existence of some obstacles in the work space, the reference generation for avoiding the obstacles is simulated. As a result, it is clarified that the proposed algorithm is available not only for path generation but also for obstacle avoidance