Application of Improved B-Spline in Trajectory Planning for Cleaning Robots

Abstract

During the metallurgical production process, the inner walls of steel ingot molds are prone to the accumulation of oxides, residues, and other attachments, which severely affect the service life of the molds and the surface quality of the ingots. To address the insufficient smoothness in the trajectory planning of existing cleaning robots, an improved B-spline interpolation method is proposed and applied to the trajectory planning of a gantry-type cleaning robot. Based on the traditional B-spline, the proposed method introduces auxiliary control points to achieve smoother interpolation in terms of velocity and acceleration, thereby reducing mechanical impact and ensuring uniform cleaning coverage. A simulation of a plum blossom–shaped cross-section was conducted on the MATLAB platform, and the results were compared with those obtained from linear interpolation and conventional B-spline methods. The results demonstrate that the improved B-spline effectively reduces trajectory error and acceleration peaks, resulting in smoother robot motion and meeting the requirements of layered cleaning processes.