Smoothing Voronoi-based Obstacle-avoiding Path by Length-minimizing Composite Bezier Curve

In this paper, we present an obstacle avoiding path planning method based on Voronoi diagram and composite Bezier curve algorithm which obtains the shortest path length. In our algorithm, a Voronoi diagram is constructed according to the global environment. The piecewise linear rough path in the Voronoi diagram which keeps away from the obstacles is obtained by performing Dijkstra’s shortest path algorithm. Dynamic programming is employed to subdivide the nodes on the piecewise linear path into control point subsequences to generate a collision free composite Bezier curve with shortest curve length. In the experimental results, the path length obtained by our algorithm is up to 8.83% shorter than the piecewise linear rough path along the Voronoi diagram.