Smoothing Voronoi-based Path with Minimized Length and Visibility using Composite Bezier Curves
We present an obstacle avoiding path planning method based on a Voronoi diagram. We use a tactical visibility measure to obtain the shortest path length with the lowest local probability to be discovered based on the map topology. A Voronoi-based navigation mesh for finding the shortest smooth path with the lowest visibility along the path is used. The piecewise linear rough path in the Voronoi diagram is compared with collision free composite Bezier curves with shortest curve length. Whether we use visibility component or not, the smooth path length does not differ more than 12\%. This allows us to use tactical information from map geometry without significant loss in path length.