@inproceedings{a497d134de224d42ac4a7dfc65a3da3d,
title = "Dual-Loop Iterative Optimization for Coarse Reference Path With Obstacle Avoidance",
abstract = "Path planning is the core technique for mobile robots, and how to optimize and handle coarse reference path is an important part of robot motion planning. This paper presents a global path optimization algorithm based on a dual-loop iterative framework, focusing on the challenges of optimizing and avoiding obstacles for coarse reference paths in complex environments. The dual-loop iterative optimization framework incorporates slack variables to address the issues of path smoothness and safety optimization. Both simulation and real-world experimental results demonstrate that the proposed algorithm significantly surpasses traditional search-based or sampling-based methods in terms of path smoothness, obstacle avoidance performance, and computational efficiency. The work provides valuable insights and a practical foundation for mobile robot navigation path optimization.",
keywords = "Curvature corridor, Dual-loop iterative optimization framework, Obstacle-separating hyperplane",
author = "Hongyuan Zhang and Jing Li and Niu, \{Tian Wei\} and Zhenyu Jiang and Junzheng Wang",
note = "Publisher Copyright: {\textcopyright} 2025 Technical Committee on Control Theory, Chinese Association of Automation.; 44th Chinese Control Conference, CCC 2025 ; Conference date: 28-07-2025 Through 30-07-2025",
year = "2025",
doi = "10.23919/CCC64809.2025.11179346",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "3301--3306",
editor = "Jian Sun and Hongpeng Yin",
booktitle = "Proceedings of the 44th Chinese Control Conference, CCC 2025",
address = "United States",
}