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Abstract-In this paper, we present an obstacle avoiding smooth path planning method based on Voronoi diagram and composite Bezier curve algorithm which obtains the curvature bounded path with small length. In our algorithm, a Voronoi diagram is constructed according to the global environment. The piecewise linear rough path in the Voronoi diagram which keeps away from the obstacles is obtained by performing Dijkstra's shortest path algorithm. Dynamic programming is employed to subdivide the nodes on the piecewise linear path into control point subsequences to generate a collision free composite Bezier curve which satisfies the curvature constraint and approaches minimal path length.

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This paper describes our work in developing a 3D robotic mapping system composed by an experimental mobile platform equipped with a rotating laser range finder (LRF). For the purpose of obtaining more complete 3D scans of the environment, we design, construct and calibrate a crank‐rocker four‐bar linkage so that a LRF mounted on it could undergo repetitive rotational motion between two extreme positions, allowing both horizontal and vertical scans. To reduce the complexity of map representation suitable for optimization later, the local map from the LRF is a grid map represented by a distance‐transformed (DT) matrix. We compare the DT‐transformed maps and find the transformation matrix of a robot pose by a linear simplex‐based map optimization method restricted to a local region allows efficient alignment of maps in scan matching. Several indoor 2D and 3D mapping experiments are presented to demonstrate the consistency, efficiency and accuracy of the 3D mapping system for a mobile robot that is stationary or in motion

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