Path planning plays a key role for comfortability and safety in driving, and for autonomy in robotics. Most path planning methods study the problem on how to obtain minimal paths given global and local information of the environment; and to consider smoothness, the study on energy minimization on curvature is conventional. In this paper, we propose path planning using aesthetic B-spline curves to render minimal-length and smooth paths that avoid obstacles. Computational results in arbitrary polygonal environments show that our proposed approach is feasible.
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