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 $G^{1}$ 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.