Continuous-Curvature Path Planning With Obstacle Avoidance Using Four Parameter Logistic Curves

Abstract

Continuous-curvature path planning with obstacle avoidance is considered. Two path shapes, namely, S and half-S shapes derived from four parameter logistic curves are proposed as solution paths. Closed-form analytic conditions are derived for avoiding rectangular and circular obstacles. Using the zero end curvature property of the proposed paths, a complete path planner is presented joining the individual paths. An analytic bound on the maximum curvature of the paths is derived. A comparison is carried out with existing smooth path planning methodologies based on number of design parameters, complexity in obstacle avoidance, and nature of computations involved. The work highlights the use of logistic curves as a novel, analytically feasible, and applicable path planning methodology.