Bezier Curve-Based Smoothing for Path Planner with Curvature Constraint
Reinis Cimurs, Jaepyung Hwang, Il Hong Suh · 2017
This paper proposes a novel curve smoothing method for path planners with curvature constraint in which the positions of the nodes from the planner are updated. For a smooth trajectory, we adopt Bezier curve where the optimal positions of its control points are found in order to satisfy curvature constraint. These curves are calculated in a piece-wise manner and connected to obtain the whole path. Our method allows for an easy control of the curve, collision verification and fast calculation. We provide experimental results which exhibit improved performance compared to similar methods and high adaptability.