Smooth path planning via cubic GHT-Bezier spiral curves based on shortest distance, bending energy and curvature variation energy

In this article, an algorithm to obtain a smooth path (free from obstacles) that can be optimized by shortest path distance, bending energy and curvature variation energy will be presented. Previously, scholars used various tools to generate smooth path such as Clothoid, Log-Aesthetic curves (LACs), and Bezier curves. The limited number of solutions from the aforementioned curves become one of the drawback to generate smooth path planning. Therefore, providing a number of solutions that can generate smooth path planning becomes the objective of this study. In this paper to generate a smooth path, five templates of spiral transition curves having three different shape parameters with monotone curvature (either increase or decrease) by cubic GHT-Bezier curves are proposed. Moreover, few examples of path planning technique via cubic GHT-Bezier spiral curve to show the flexibility of smooth path by minimization of the shortest path (minimum arc length) L, bending energy E and curvature variation energy V are presented. The superiority of cubic GHT-Bezier spiral path smoothing techniques as compared to Clothoid and LACs is also demonstrated.