Path Smoothing with Deterministic Shortcuts

Path smoothing is an important operation in a number of path planning applications. While several approaches have been proposed in the literature, a lack of simple and effective methods with quality-based termination conditions can be observed. In this paper we propose a deterministic shortcut-based smoothing method that is simple to be implemented and achieves user-specified termination conditions based on solution quality, overcoming one of the main limitations observed in traditional random-based approaches. We present several benchmarks demonstrating that our method produces higher-quality results when compared to the traditional random shortcuts approach.