Path Planning Based on Bezier Curve for Robot Swarms

In this paper, a smoothing approach of planned path is proposed for multiple nonholonomic robots with minimum turning radius constraint. the planned path can be obtained by Global Path Planner (GP), Local Motion Planner (MP). the waypoints of the planned path are considered as control points of Bezier curves. Thus, an optimal path with minimum turning radius constraint can be obtained. since the proposed algorithm also takes the collision avoidance into account, every robot always keeps a minimal safety distance away from other robots along the planned trajectories. the simulation results show that the obtained paths are satisfied the optimal requirements of path smooth, minimum turning radius constraint, shortest path and computation efficiency.