Currently, vehicle obstacle avoidance path planning methods are facing problems such as a long planning time and a low planning effectiveness. This study optimizes the curve of the finite state machine during state transitions by utilizing third-order Bézier curves that can connect the discrete behaviors of objects and obtain the optimal state transition path. Then, the optimized finite state machine is applied to path planning in order to solve various problems related to vehicle obstacle avoidance path planning. The experimental results showed that for the AgiBot World dataset, the proposed TBC-FSM method obtained a calculation time lower than 90 ms, and an accuracy of curve generation higher than 95%. Moreover, the smoothness score for the planned motion trajectories ranged between 8 and 9, indicating a relatively high smoothness. When analyzing the actual effectiveness of the proposed method, the obstacle avoidance success rate for the planned path reached 98.7%, and the path planning time was only 45.6 ms. To sum up, the proposed optimization method can improve the accuracy of obstacle avoidance for vehicles and reduce the path planning time.
Finite state machine; Third-order Bézier curve; Vehicle obstacle avoidance; Path planning; Planning time consumption.
ZhongZhi ZHANG, XueMei PENG, Yan XU, "Vehicle Obstacle Avoidance Path Planning Method Based on Finite State Machine and Third-order Bézier Curve", Studies in Informatics and Control, ISSN 1220-1766, vol. 35(3), pp. 61-70, 2026. https://doi.org/10.24846/v35i3y202606
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