提出高效路径平滑方法，保证最短路径、连续曲率且无碰撞。
Fast Shortest Path Polyline Smoothing With $G^1$ Continuity and Bounded Curvature
- 基于约束优化生成满足$G^1$连续性的平滑路径
- 路径长度最短，计算耗时低于现有方法
- 适合对实时性与安全性要求高的自动驾驶路径规划
本文提出一种新型高效算法，用于运动规划中折线的平滑处理，适用于具有曲率约束的车辆运动规划。所生成路径在满足假设条件下：1）长度最小；2）具有$G^1$连续性；3）通过构造保证无碰撞。与当前最先进方法相比，本方案在计算时间与路径长度上均表现更优。
原文摘要 · Abstract (English)
In this work, we propose a novel and efficient method for smoothing polylines in motion planning tasks. The algorithm applies to motion planning of vehicles with bounded curvature. In the paper, we show that the generated path: 1) has minimal length, 2) is $G^1$ continuous, and 3) is collision-free by construction, if the hypotheses are respected. 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.
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