Path shortening and smoothing of grid-based path planning with consideration of obstacles
Masatomo Kanehara, Satoshi Kagami, James Kuffner, Simon Thompson, Hiroshi Mizoguhi · 2007
This paper describes a path smoothing method that results in paths with clothoidal curvature and which includes a safety margin from obstacles. The method modifies grid based A* results, and tries to push the given path away from obstacles. A technique to take into account the initial direction of robot is also shown.