Fast Shortest Path Polyline Smoothing With G1 Continuity and Bounded Curvature
<|reference_start|>Fast Shortest Path Polyline Smoothing With G1 Continuity and Bounded Curvature: In this work, we propose a novel and efficient method for smoothing polylines in motion planning tasks. The algorithm applies to motion planning of vehicles with bounded curvature. In the paper, we show that the generated path: 1) has minimal length, 2) is $G^1$ continuous, and 3) is collision-free by construction, if the hypotheses are respected. We compare our solution with the state-of.the-art and show its convenience both in terms of computation time and of length of the compute path.<|reference_end|>
@article{pastorelli2024fast,
    title={Fast Shortest Path Polyline Smoothing With G1 Continuity and Bounded
  Curvature},
    author={Patrick Pastorelli, Simone Dagnino, Enrico Saccon, Marco Frego, Luigi
  Palopoli},
    journal={arXiv preprint arXiv:2409.09816},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.09816},
    primaryClass={cs.RO}
}