{"ID":2849336,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.24972","arxiv_id":"2510.24972","title":"Smooth path planning with safety margins using Piece-Wise Bezier curves","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.","short_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 smo...","url_abs":"https://arxiv.org/abs/2510.24972","url_pdf":"https://arxiv.org/pdf/2510.24972v1","authors":"[\"Iancu Andrei\",\"Marius Kloetzer\",\"Cristian Mahulea\",\"Catalin Dosoftei\"]","published":"2025-10-28T21:12:54Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}