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arXiv · 2510.24972

Smooth path planning with safety margins using Piece-Wise Bezier curves

Iancu Andrei·Marius Kloetzer·Cristian Mahulea·Catalin Dosoftei
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Abstract

In this paper, we propose a computationally efficient quadratic programming (QP) approach for generating smooth, $C^1$ continuous paths for mobile robots using piece-wise quadratic Bezier (PWB) curves. Our method explicitly incorporates safety margins within a structured optimization framework, balancing trajectory smoothness and robustness with manageable numerical complexity suitable for real-time and embedded applications. Comparative simulations demonstrate clear advantages over traditional piece-wise linear (PWL) path planning methods, showing reduced trajectory deviations, enhanced robustness, and improved overall path quality. These benefits are validated through simulations using a Pure-Pursuit controller in representative scenarios, highlighting the practical effectiveness and scalability of our approach for safe navigation.

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Iancu Andrei, Marius Kloetzer, Cristian Mahulea, Catalin Dosoftei. 2025-10-28. Smooth path planning with safety margins using Piece-Wise Bezier curves. https://doi.org/10.1109/etfa65518.2025.11205537

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