Non-intersecting curved paths using Bezier curves in the 2D-Euclidean plane for multiple autonomous robots

This paper proposes an algorithm for generating non-intersecting continuous paths for multiple robots having unique source and destination with convex polygonal obstacles in the 2D-Euclidean plane. It generates paths using Dijkstra's algorithm with the edges of the visibility graph of the map. Although Dijkstra's algorithm is used, the generated paths between the source-destinations will not be explicitly 'short paths' as an edge of the visibility graph cannot be used in multiple paths. The robots are prioritised with respect to the Euclidean distance between them. The discrete paths are converted into continuous paths using Bezier curves along the corners of the edges. The algorithm sequentially generate paths one after another based on a priority based on the Euclidean distance between their source and destination.