Efficient Polyline Smoothing with G^1 Continuity and Curvature Constraints for Shortest Path

In this paper, we present an efficient algorithm for smoothing polylines in vehicle motion planning with curvature constraints. The method is tailored to generate paths that meet specific requirements: 1) minimal length, 2) G^1 continuity with bounded curvature, and 3) guaranteed collision-free properties, under mild assumptions. We compare our approach with existing state-of-the-art techniques, highlighting its benefits in terms of both computational efficiency and path length optimization.