Smooth path planning with safety margins using Piece-Wise Bezier curves
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866914121407004672 |
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| author | Andrei, Iancu Kloetzer, Marius Mahulea, Cristian Dosoftei, Catalin |
| author_facet | Andrei, Iancu Kloetzer, Marius Mahulea, Cristian Dosoftei, Catalin |
| contents | In this paper, we propose a computationally efficient quadratic programming (QP) approach for generating smooth, $C^1$ continuous paths for mobile robots using piece-wise quadratic Bezier (PWB) curves. Our method explicitly incorporates safety margins within a structured optimization framework, balancing trajectory smoothness and robustness with manageable numerical complexity suitable for real-time and embedded applications. Comparative simulations demonstrate clear advantages over traditional piece-wise linear (PWL) path planning methods, showing reduced trajectory deviations, enhanced robustness, and improved overall path quality. These benefits are validated through simulations using a Pure-Pursuit controller in representative scenarios, highlighting the practical effectiveness and scalability of our approach for safe navigation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_24972 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Smooth path planning with safety margins using Piece-Wise Bezier curves Andrei, Iancu Kloetzer, Marius Mahulea, Cristian Dosoftei, Catalin Robotics In this paper, we propose a computationally efficient quadratic programming (QP) approach for generating smooth, $C^1$ continuous paths for mobile robots using piece-wise quadratic Bezier (PWB) curves. Our method explicitly incorporates safety margins within a structured optimization framework, balancing trajectory smoothness and robustness with manageable numerical complexity suitable for real-time and embedded applications. Comparative simulations demonstrate clear advantages over traditional piece-wise linear (PWL) path planning methods, showing reduced trajectory deviations, enhanced robustness, and improved overall path quality. These benefits are validated through simulations using a Pure-Pursuit controller in representative scenarios, highlighting the practical effectiveness and scalability of our approach for safe navigation. |
| title | Smooth path planning with safety margins using Piece-Wise Bezier curves |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.24972 |