Collision-free curvature-bounded smooth path planning using composite Bezier curve based on Voronoi diagram

Abstract

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.

A New Path Generation Algorithm Based on Accurate NURBS Curves

“…Compared with the algorithms described in [25,26], our method not only ensures the smoothness property, which has been proven important in the process of robot navigation, but also respects the limit of allowable curvature. As for the methods [3,7,8,9,10,11,12], the proposed method is distinguished by the use of modelling with NURBS curves, which are much more flexible than other smoothing techniques, coupled with the fact that NURBS algorithms are fast and numerically stable. Moreover, our method uses varied values for the weight parameter, unlike many existing path planning methods that use NURBS curves, such as [13,27], where all weights of control points are set at one.…”

“…In fact, supposing that a planar region that contains some obstacles is given, and assuming that a polyline path that does not touch any of the obstacles is also given, the guiding polyline will be replaced by a G 2 cubic spline curve, which has the same number of inflection points as would be suggested by this guiding polyline and which, in its turn, controls the curve's shape. Also, Ho et al [8] have presented an obstacle avoiding smooth-path planning method based on a Voronoi diagram and a composite Bézier curve algorithm, which allows them to obtain the curvature bounded path with a small length. In their approach, a diagram is constructed according to the global environment.…”

A Collision-FreeG2Continuous Path-Smoothing Algorithm Using Quadratic Polynomial Interpolation

“…Scheuer and Fraichard reported collision-free and continuous curvature path planning for car-like robots [9]. Ho and Liu suggested collision-free curvature-bounded smooth path planning using composite Bézier curves based on a Voronoi diagram [10]. These studies sought to obtain a collision-free and a smooth path simultaneously.…”

Simulated annealing based algorithm for smooth robot path planning with different kinematic constraints

“…Many techniques have been researched to utilize multiple path schemes for different applications [1,3,6,8,9,11,12]. Among these applications, the kinematic constraints of the mobile robot play an important role in path planning.…”