Continuous curvature path-smoothing algorithm using cubic B zier spiral curves for non-holonomic robots

This paper presents a path-smoothing algorithm over the piecewise linear path for non-holonomic robots. Based on the upper-bounded continuous curvature path-smoothing algorithm, three algorithms are proposed to enhance the path smoothing performance. First, an interactive algorithm, which fully utilizes extra distance margins of linear path, is suggested. Second, a bisection algorithm is proposed to relieve the violation of the maximum curvature constraints. Finally, an interpolating path-smoothing algorithm which passes intermediate points is suggested. Simulation results show the validity of the suggested algorithms.