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 pa...

This paper presents a smooth path planning method considering physical limits for twowheeled mobile robots (TMRs). A Bezier curve is utilized to make an S-curve path. A convolution operator is used to generate the center velocity trajectory to travel the distance of the planned path while considering the physical limits. The trajectory gained through convolution does not consider the direction ...

Existing Bezier curve based shape description techniques primarily focus upon determining a set of pertinent Control Points (CP) to represent a particular shape contour. While many different approaches have been proposed, none adequately consider domain specific information about the shape contour like its gradualness and sharpness, in the CP generation process which can potentially result in l...

The paper presents a solution to calculate intersection between a plane and bi-cubic Bezier curved surface. The paper first constructs bounding box based on the control grid by the characteristics of the Bezier surface, and then makes use of the plane half-space properties to convert the problem that calculates the intersection line between the plane and the parameter curved surface into calcul...

The smooth interpolation of keyframes of a rigid body, in particular their orientations, is an important problem in animation . Using the quaternion as a representation for orientation, several papers have solved this problem through the generation of smooth curves on the quaternion sphere. However, none of these methods have constructed rational curves. This paper develops a method for generat...

It is an important problem to compute the geodesics on a surface in many fields. To find the geodesics in practice, however, the traditional discrete algorithms or numerical approaches can only find a list of discrete points. The first author proposed in 2010 a new, elegant and accurate method, the geodesic-like method, for approximating geodesics on a regular surface. This paper will present b...

However, we cannot easily control the curve locally. That is, any change to an individual control point will cause changes in the curve along its full length. In addition, we cannot create a local cusp in the curve, that is, we cannot create a sharp corner unless we create it at the beginning or end of a curve where it joins another curve. Finally, it is not possible to keep the degree of the B...