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

@article{Ho2009CollisionfreeCS,
  title={Collision-free curvature-bounded smooth path planning using composite Bezier curve based on Voronoi diagram},
  author={Yi-Ju Ho and Jing-Sin Liu},
  journal={2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA)},
  year={2009},
  pages={463-468}
}
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… CONTINUE READING
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