How to smoothing sharp bends

Hi I'm dealing with path planning, i did it but now need to smooth the curves for make movements suitable. I want to use circumference for smoothing so i can give car's turning radius as an input. What do you suggest for this problem?

Answer 1

[John D'Errico]

I'm not sure I see what is the problem. You have two lines that intersect in a known point.

Solve for the equation of a circle (with known radius) that is tangent to both lines. All that is unknown are the coordinates of the center of that circle. In fact, you even can compute a line that must pass through that center point.

As simply, there is a basic formula for the distance to a line from a point . If the radius of the circle is given as r, then the point (x0,y0) must lie at a distance r from the line. Since you have two such lines, this is again a simple problem to solve.

Just sit down with a pencil and paper, and do a little basic algebra. Yeah, I know, you want me to do it for you. But the symbolic toolbox can do it easily enough.

Answer 2

[Image Analyst]

If you can interpolate a bunch more points along the line, then simple take your x and y vectors and filter each of them with a moving smoothing filter such as conv(), sgolayfilt(), lowess(), etc. The output curve will be smoother around the sharp vertices.

See attached demo that uses the Savitzky-Golay filter to smooth an outline in 2-D.