Path Planning Based on Segmented Bezier Curves and A* Algorithm for Mobile Robot

Abstract

Path planning is an important problem for mobile robot in complex environments. In this paper, an optimized path planning method based on segmented Bezier curves and A* algorithm is proposed. The result of A* algorithm is used to guide the direction of segmented Bezier curves, which fit the A* path. The segmented Bezier curves are generated to meet the requirements of fitting index with the consideration of constraints from the environment and robot itself. The set of the optimized Bezier curves for each segmented A* path is connected end to end and regarded as the result of path planning for the mobile robot. The effectiveness of the proposed method is verified through the experiments.