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

• Published in: 2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation pp. 463 - 468
• Main Authors: Yi-Ju Ho, Jing-Sin Liu
• Format: Conference Proceeding
• Language: English
• 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
• ISBN: 1424448085; 9781424448081
• DOI: 10.1109/CIRA.2009.5423161

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.