Teach and Repeat for Path Planning Using Bézier Curves

• Jardel Dos Santos Dyonisio FURG https://orcid.org/0009-0003-7722-7203
• Luís Felipe Milczarek FURG https://orcid.org/0009-0008-7693-034X
• Nicolas Freitas Dias FURG https://orcid.org/0009-0009-9970-0501
• Stephanie Loi Brião FURG https://orcid.org/0000-0001-9345-2038
• Gabriel Amaral Dorneles FURG https://orcid.org/0009-0001-6554-5832
• Igor Pardo Maurell FURG https://orcid.org/0000-0002-4376-9544
• Pedro Miranda Pinheiro FURG https://orcid.org/0000-0002-8564-458X
• Rodrigo Da Silva Guerra FURG https://orcid.org/0000-0003-4011-0901
• Paulo Lilles Jorge Drews-Jr FURG https://orcid.org/0000-0002-7519-0502

Resumo

In the service robots field, a mobile robot must be able to navigate and repeat previously defined paths. This paper aims to develop a technique capable of teaching and repeating (T&R) a path taken by a mobile robot. We evaluated using a differential robot. The developed system is integrated with the ROS framework and uses the mobile base, which is built with self-balancing scooter components. When changes need to be made in the environment, a user must generate a new path by teleoperating the robot, and the system can repeat new paths autonomously. The proposed approach consists of using Bezier curves to represent the paths taken by the user. The proposed method implements a T &R technique to navigate a mobile robot. Results show the worst maximum average of percentage error (MPE) using this method was only 1.361 % in adapting the Bezier curve to the points where the robot was taught, satisfactorily representing the path. In the repeating process, the worst MPE was 9.983%.

Palavras-chave: Navigation, Service robots, Education, Robot sensing systems, Path planning, Sensors, Mobile robots, Odometry, Splines (mathematics), Research and development, Teach and repeat, Autonomous Mobile Robot, Planning route