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Obstacles Avoidance in the Frame Work of Pythagorean Hodograph based Path Planning

This paper deals with the problem of obstacle avoidance in the path planning based on Pythagorean Hodograph. The proposed obstacle avoidance approach is based on changing the curvature in case of Pythagorean Hodograph curves. However this may result in an increase in the length of the path. Furthermore in some cases obstacle avoidance by changing the curvature of the path may result not only in an increase in path length but also to a tremendous increase in bending energy. An increase in bending energy of a path as a result of curvature change above certain limit makes the path very difficult or impossible to fly.