Warehouse path planning using low-order Bézier curves with minimum-time optimization

Blažič, Sašo (author), Klančar, Gregor (author), Benko Loknar, Martina (author), Škrjanc, Igor (author)

In this paper, low-order Bézier motion primitives are proposed for motion planning in corridor-constrained spaces, which is illustrated on a warehouse application. The proposed primitives are easily computed for given requirements (initial and final position, orientation and curvature). A new parametrization of the motion primitives is provided which allows an intuitive geometric interpretation. The combined path constructed from these primitives has a minimal number of turns, as third-order Bezier curves are used. At the same time, the combined path has continuous curvature. A path planning approach is proposed that finds the optimal combination of primitives that results in a minimum travel time while satisfying constraints on velocity, acceleration, and free space. To illustrate the applicability of the approach, a comparison with a typical predefined warehouse path and an existing advanced optimisation planner is provided and evaluated.

• Language: English
• Keywords: path planning, motion primitives, Bezier curve, continuous curvature, minimal time, warehouse
• Typology: 1.08 - Published Scientific Conference Contribution
• Organization: FE - Faculty of Electrical Engineering
• Publication status: Published
• Publication version: Version of Record
• Year: 2023
• Number of pages: Str. 11815-11820
• Numbering: Vol. 56, issue 2
• PID: 20.500.12556/RUL-185076
• UDC: 681.5:519.6
• ISSN on article: 2405-8963
• DOI: 10.1016/j.ifacol.2023.10.578
• COBISS.SI-ID: 244158467
• Publication date in RUL: 22.07.2026

Record is a part of a proceedings

• Title: 22nd IFAC World Congress Yokohama, Japan, July 9-14, 2023
• COBISS.SI-ID: 173643267

Record is a part of a journal

• Title: IFAC papersOnline
• Publisher: International Federation of Automatic Control
• ISSN: 2405-8963
• COBISS.SI-ID: 18995734

Licences

• License: CC BY-NC-ND 4.0, Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
• Link: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Description: The most restrictive Creative Commons license. This only allows people to download and share the work for no commercial gain and for no other purposes.

Secondary language

• Language: Slovenian
• Keywords: načrtovanje poti, osnovni gradniki, Bézierjeva krivulja, zvezna ukrivljenost, minimalni čas, skladišče

Projects

• Funder: ARIS - Slovenian Research and Innovation Agency
• Project number: P2-0219
• Name: Modeliranje, simulacija in vodenje procesov

• Funder: ARIS - Slovenian Research and Innovation Agency
• Project number: L2-3168
• Name: Razvoj samo-učečega sistema za optimizacijo pravil vožnje avtonomnih transportnih vozil in njihovih časovno-prostorsko usklajenih aktivnosti