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2D Path planner algorithm based on Splines and Differential Evolution

Name: 2D Path planner algorithm based on Splines and Differential Evolution
Creator: Elias José de Rezende Freitas
Keywords: Splines, NURBS, Differential Evolution, Evolutionary Algorithms, Path planning

integration_instructionsResearch softwarekeyboard_double_arrow_right Software 01 Jan 2023Publisher:Zenodo

Authors: Elias José de Rezende Freitas;

doi: 10.5281/zenodo.8393907 , 10.5281/zenodo.8393908

2D Path planner algorithm based on Splines and Differential Evolution

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Abstract

This code repository is a library for two new path planners based on Differential Evolution, DE-Spline and DE-NURBS, which use the L-SHADE algorithm and curve parameterizations to provide a smoother path for robots to reach their targets. Compared to a widely used Vector Field-based planner, DE-Spline and DE-NURBS consider the robot's starting and goal angles, resulting in a smoother path along the shortest route. In addition, DE-NURBS also provides greater planning freedom than DE-Spline.

Related Organizations

Instituto Federal do Amapá
Brazil

Keywords

Splines, NURBS, Differential Evolution, Evolutionary Algorithms, Path planning

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