A Smooth Global Path Planning Method for Unmanned Surface Vehicles Using A Novel Combination of Rapidly Exploring Random Tree and Bézier Curves

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dc.authoridhttps://orcid.org/0000-0003-3571-2684
dc.authoridhttps://orcid.org/0000-0002-2690-1099
dc.contributor.authorTürkkol, Betül Z.
dc.contributor.authorAltuntaş, Nihal
dc.contributor.authorÇekirdek Yavuz, Sırma
dc.date.accessioned2025-03-25T10:53:33Z
dc.date.available2025-03-25T10:53:33Z
dc.date.issued2024
dc.departmentMühendislik ve Mimarlık Fakültesi
dc.description.abstractDeveloping autonomous navigation techniques for surface vehicles remains an important research area, and accurate global path planning is essential. For mobile robots—particularly for Unmanned Surface Vehicles (USVs)—a key challenge is ensuring that sharp turns and sharp breaks are avoided. Therefore, global path planning must not only calculate the shortest path but also provide smoothness. Bézier Curves are one of the main methods used for smoothing paths in the literature. Some studies have focused on turns alone; however, continuous path smoothness across the entire trajectory enhances navigational quality. Contrary to similar studies, we applied Bézier Curves whose control polygon is defined by an RRT path and thus avoided a multi-objective formulation. In the final stage of our approach, we proposed a control point reduction method in order to decrease the time complexity without affecting the feasibility of the path. Our experimental results suggest significant improvements for multiple map sizes, in terms of path smoothness.
dc.identifier.citationTürkkol, B.Z.; Altunta¸s, N.; Çekirdek Yavuz, S. A Smooth Global Path Planning Method for Unmanned Surface Vehicles Using A Novel Combination of Rapidly Exploring Random Tree and Bézier Curves. Sensors 2024, 24, 8145. https:// doi.org/10.3390/s24248145
dc.identifier.doi10.3390/s24248145
dc.identifier.issn1424-8220
dc.identifier.issue24
dc.identifier.urihttps://hdl.handle.net/11363/9600
dc.identifier.volume24
dc.identifier.wos001386863700001
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.institutionauthorAltuntaş, Nihal
dc.institutionauthoridhttps://orcid.org/0000-0002-2690-1099
dc.language.isoen
dc.publisherMDPI, ST ALBAN-ANLAGE 66, CH-4052 BASEL, SWITZERLAND
dc.relation.ispartofSENSORS
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectRRT
dc.subjectBézier Curve
dc.subjectUSV
dc.subjectglobal path planning
dc.subjectpath smoothing
dc.titleA Smooth Global Path Planning Method for Unmanned Surface Vehicles Using A Novel Combination of Rapidly Exploring Random Tree and Bézier Curves
dc.typeArticle

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