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Generalized Voronoi Diagrams has been demonstrated to be a relevant tool for planification in a mobile robotics context. Therefore, the generated trajectories may suffer of discontinuities and non-optimality. This paper introduces a reflexion on the use of Bezier curves to solve both of these drawbacks. The key idea of this paper is to be able to smoothen a trajectory in order to save traveling time and therefore reduce displacement and overall consumption (in our mobile robotics context: reduction of battery usage and localization errors). The presented work is firstly detailed and explained on a synthetic map, and experimental results with mobile robots are presented. Disadvantages and advantages are discussed at the end of the paper.

Path Planning Optimization based on Bézier Curves through Open-doors Way Point