Path Planning Based on Bézier Curve for Autonomous Ground Vehicles

  title={Path Planning Based on B{\'e}zier Curve for Autonomous Ground Vehicles},
  author={Ji-wung Choi and Renwick E. Curry and G. Elkaim},
  journal={Advances in Electrical and Electronics Engineering - IAENG Special Edition of the World Congress on Engineering and Computer Science 2008},
In this paper we present two path planning algorithms based on Bezier curves for autonomous vehicles with way points and corridor constraints. Bezier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bezier curve segments smoothly to generate the path. Additionally, we discuss the constrained optimization problem… CONTINUE READING
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