Fast Shortest Path Polyline Smoothing With $G{1}$ Continuity and Bounded Curvature
Patrick Pastorelli, Simone Dagnino, Enrico Saccon, Marco Frego, Luigi Palopoli
Abstract
In this work, we propose the Dubins Path Smoothing (DPS) algorithm, a novel and efficient method for smoothing polylines in motion planning tasks. DPS applies to motion planning of vehicles with bounded curvature. In the letter, we show that the generated path: 1) has minimal length, 2) is <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$G^{1}$</tex-math></inline-formula> continuous, and 3) is collision-free by construction, under mild hypotheses. 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.
BibTeX
@inproceedings{ral2025_fastshortestpath,
title = {Fast Shortest Path Polyline Smoothing With $G{1}$ Continuity and Bounded Curvature},
author = {Patrick Pastorelli and Simone Dagnino and Enrico Saccon and Marco Frego and Luigi Palopoli},
booktitle = {RA-L 2025},
year = {2025}
}