Continuous-Curvature Bounded Trajectory Planning Using Parametric Splines

Abstract

This paper investigates trajectory generation for curvature continuous paths. A car-like wheeled robot platform is considered. Planning is performed using a single B-spline curve that maintains continuity through the path. Constraints such as bounded curvature, velocity, and acceleration limits are considered. We minimize the traversal time while maintaining continuity and obeying the robot's constraints. Simulation experiments were successfully conducted to verify the efficiency and robustness of this approach.