Paper ID: 2409.09816

Fast Shortest Path Polyline Smoothing With G1 Continuity and Bounded Curvature

Patrick Pastorelli, Simone Dagnino, Enrico Saccon, Marco Frego, Luigi Palopoli

In this work, we propose a novel and efficient method for smoothing polylines in motion planning tasks. The algorithm applies to motion planning of vehicles with bounded curvature. In the paper, we show that the generated path: 1) has minimal length, 2) is $G^1$ continuous, and 3) is collision-free by construction, if the hypotheses are respected. We compare our solution with the state-of.the-art and show its convenience both in terms of computation time and of length of the compute path.

Submitted: Sep 15, 2024