# Path Planning Optimization based on Bézier Curves through Open-doors Way Point

### Simon Landrault, Philippe Lucidarme, Nicolas Delanoue

#### Abstract

Generalized Voronoï Diagrams has been demonstrated to be a relevant tool for planification in a mobile robotics context. Therefore, the generated trajectories may suffer of discontinuities and non-optimality. This paper introduces a reflexion on the use of Bézier curves to solve both of this drawbacks. The key idea of this paper it is to be able to smooth a trajectory in order to save traveling time and therefore limits displacement and overall consumption (in our mobile robotics context, reduction of battery usage and localization errors). The presented work is firstly detailed and explained on a synthetic map, and experimental results with mobile robots are presented. Disadvantages and advantages are discussed at the end of the paper.

#### References

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#### Paper Citation

#### in Harvard Style

Landrault S., Lucidarme P. and Delanoue N. (2013). **Path Planning Optimization based on Bézier Curves through Open-doors Way Point** . In *Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,* ISBN 978-989-8565-71-6, pages 156-161. DOI: 10.5220/0004431301560161

#### in Bibtex Style

@conference{icinco13,

author={Simon Landrault and Philippe Lucidarme and Nicolas Delanoue},

title={Path Planning Optimization based on Bézier Curves through Open-doors Way Point},

booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},

year={2013},

pages={156-161},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0004431301560161},

isbn={978-989-8565-71-6},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,

TI - Path Planning Optimization based on Bézier Curves through Open-doors Way Point

SN - 978-989-8565-71-6

AU - Landrault S.

AU - Lucidarme P.

AU - Delanoue N.

PY - 2013

SP - 156

EP - 161

DO - 10.5220/0004431301560161