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, 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.
Keywords
Cite
@article{arxiv.2510.24972,
title = {Smooth path planning with safety margins using Piece-Wise Bezier curves},
author = {Iancu Andrei and Marius Kloetzer and Cristian Mahulea and Catalin Dosoftei},
journal= {arXiv preprint arXiv:2510.24972},
year = {2025}
}