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C2 Piecewise Cubic Bezier Curve Based Smoothing Path for Mobile Robot

Phan Gia Luan and Nguyen Truong Thinh
Department of Mechatronics, HCMC University of Technology and Education, Vietnam

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 C2 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.

Index Terms—smooth path planning, piecewise cubic bezier curve, mobile robot

Cite: Phan Gia Luan and Nguyen Truong Thinh, "C2 Piecewise Cubic Bezier Curve Based Smoothing Path for Mobile Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 10, No. 9, pp. 519-525, September 2021. DOI: 10.18178/ijmerr.10.9.519-525

Copyright © 2021 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.