Path planning for autonomous ground vehicles based on quintic trigonometric Bezier curve: Path planning based on quintic trigonometric Bezier curve

Path planning is one of the essential steps for autonomous ground vehicles or even wheeled mobile robots. This paper proposes a general framework for the path planning using quintic trigonometric Bezier curve with two shape parameters and C3 continuity. We express that when there are obstacles, predefined path can be adjusted by only using shape parameters without altering any obstacle. Additionally, the velocity, lateral acceleration, longitudinal and lateral jerks of the predefined cubic and quintic Bezier, and cubic and quintic trigonometric Bezier paths are compared. Also, a path surface for autonomous ground vehicles can be generated using developable surfaces.