Real-Time Obstacle-Avoiding Path Planning for Mobile Robots

In this paper a computationally effective trajectory generation algorithm of mobile robots is proposed. The algorithm plans a reference path based on Voronoi diagram and Bézier curves, that meet obstacle avoidance criteria. Bézier curves defining the path are created such that the circumference convex polygon of their control points miss all obstacles. To give smoothness, they are connected under C1 continuity constraint. In addition, the first Bézier curve is created to satisfy the initial heading constraint and to minimize the maximum curvature of the curve. For the mission, this paper analyzes the algebraic condition of control points of a quadratic Bézier curve to minimize the maximum curvature. The numerical simulations demonstrate smooth trajectory generation with satisfaction of obstacle avoidance in an unknown environment by applying the proposed algorithm in a receding horizon fashion.