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3K Method: Time-optimal Path Planning for Field Robot

Konrad K. Kwaśniewski

Konrad K. Kwaśniewski

Faculty of Electrical Engineering, Bialystok University of TechnologyBialystok, Poland
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Kwaśniewski, Konrad K.
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Zdzisław Gosiewski

Zdzisław Gosiewski

Faculty of Electrical Engineering, Bialystok University of TechnologyBialystok, Poland
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Gosiewski, Zdzisław
  
Mar 31, 2025
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Published Online: Mar 31, 2025
Page range: 172 - 176
Received: Oct 10, 2023
Accepted: Jul 25, 2024
DOI: https://doi.org/10.2478/ama-2025-0020
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© 2025 Konrad K. Kwaśniewski et al., published by Sciendo
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Fig. 1.

Flowchart of 3K method
Flowchart of 3K method

Fig. 2.

Example of map model
Example of map model

Fig. 3.

Example of collision detection between B-spline and circle-shaped obstacles
Example of collision detection between B-spline and circle-shaped obstacles

Fig. 4.

Visualization of the collision depth
Visualization of the collision depth

Fig. 5.

Flowchart of the local path finding method
Flowchart of the local path finding method

Fig. 6.

Visualization of local path computation
Visualization of local path computation
Language:
English
Publication timeframe:
4 times per year
Journal Subjects:
Engineering, Electrical Engineering, Electronics, Mechanical Engineering, Mechanics, Bioengineering and Biomedical Engineering, Biomechanics, Civil Engineering, Environmental Engineering
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