An Adaptive Path Planning Method Based on the Frenét Frame

In the realm of mobile robot path planning, this study integrates local path planning with the Frenét Frame, presenting an adaptive path planning approach. Firstly, the A* algorithm is employed to extract the shortest path from the map. Subsequently, cubic spline interpolation is applied to the path to generate a smooth global reference trajectory. Next, a cost function based on lateral offset distance is introduced to enhance the proximity of the trajectory to the reference trajectory, thereby improving efficiency. Lastly, an adaptive sampling strategy is incorporated to enhance the robot's dynamic obstacle avoidance performance. Experimental results validate the efficacy of the proposed path-planning approach.