Research on Path Smoothing Method Based on the Fourth-order Bézier Curve
Path smoothing technology aims to address the issue of sharp corners in path planning by utili-zing curved paths instead of straight ones,in order to achieve smooth paths that meet the requirements of engineering applications such as contour design and motion planning.After discussing the advantages of Bezier curves in path smoothing and their significant deviation in path fitting,a new method of fourth-or-der Bezier curve path smoothing based on internal and external scale factor is proposed in this paper.Through rigorous theoretical analysis,it is demonstrated that this method can effectively control the smoot-hing error.Without considering the coordinates of the path nodes,the upper limit of the error is 4.25,thus achieving high-precision smoothing approximation of the original path.In simulation experiments for UAV path smoothing,this method has an average time cost of only 0.006 1 seconds,exhibiting its supe-riority in processing speed.Based on theoretical analysis and experimental results,this method not only performs well in terms of smoothing effect but also exhibits clear advantages in processing speed.Addi-tionally,with only two free parameters involved-internal and external scaling factors-it offers simplicity in operation,ease of implementation,and greater applicability and flexibility.
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