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

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 l...

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Bibliographic Details
Published in2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation pp. 463 - 468
Main Authors Yi-Ju Ho, Jing-Sin Liu
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2009
Subjects
Automatic control
Bezier curve
curvature constraint
Dynamic programming
Heuristic algorithms
Joining processes
Kinematics
Mobile robots
Path planning
Piecewise linear techniques
Robot sensing systems
shortest path
smooth path planning
Upper bound
Voronoi diagram
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ISBN1424448085
9781424448081
DOI10.1109/CIRA.2009.5423161

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Summary: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.
ISBN:1424448085
9781424448081
DOI:10.1109/CIRA.2009.5423161