Image-based smooth path planning for wheeled robot

A smooth path planning system including cluster reduction, Voronoi path planning and fuzzy path smoothing algorithm is developed for wheeled robot in this paper. To shorten the path planning time, the obstacles in the captured image are clustered into smaller groups firstly. Being a roadmap method for path generation, the Voronoi path diagram is employed consecutively. To smooth the planned path, a novel algorithm based on fuzzy inference mechanism is proposed to adjust the position of waypoints. To verify the effectiveness of the proposed system, some simulations are carried out. From the simulation, the wheeled robot possesses good path planning and path smoothing performance to reach its goal safely and smoothly under various obstacle layouts.