Global path planning for omnidirectional vehicles based on Bezier curve and dynamic constraints
Han Xiong, Huasong Min · 2013
This paper presents a global path planning method for omnidirectional vehicles. The method plans a smooth and optimal path in polygonal obstacle environment, determining the velocity and trajectory by dynamic constrains of omnidirectional vehicles. The results of simulation have demonstrated the improvement of trajectory generation in terms of motion time and path length compared to potential field method and A* algorithm.