C2 Piecewise Cubic Bezier Curve Based Smoothing Path for Mobile Robot

Abstract

Good path planning result of mobile robot can not only make better navigation system, but also optimize the travelling time of robot. Most path planning method just can extract the waypoints or line segments for guiding robot to desired target. By implementing of smoothing path, robot can easily archive target position without constantly stopping and turning many times. In this works, we construct continuous C 2 path by using Piecewise Cubic Bezier Curve that respect to initial pose and target pose of robot. The results in experiment shown the acceptable performance of our robot in the presence of proposed smoothing path algorithm.