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

Authors:
Yi-Ju Ho;Jing-Sin Liu
Affiliations:
Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan ROC;Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan ROC
Venue:
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Year:
2009

Citing 4
Cited 1

A sweepline algorithm for Voronoi diagrams

SCG '86 Proceedings of the second annual symposium on Computational geometry
Geometric modeling (2nd ed.)

Geometric modeling (2nd ed.)
Voronoi diagram in optimal path planning

ISVD '07 Proceedings of the 4th International Symposium on Voronoi Diagrams in Science and Engineering
Obstacle avoiding real-time trajectory generation and control of omnidirectional vehicles

ACC'09 Proceedings of the 2009 conference on American Control Conference

Simulated annealing based algorithm for smooth robot path planning with different kinematic constraints

Proceedings of the 2010 ACM Symposium on Applied Computing

Quantified Score

Hi-index	0.00

Visualization

Abstract

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 piecewise linear path into control point subsequences to generate a collision free composite Bezier curve which satisfies the curvature constraint and approaches minimal path length.