This paper presents a new motion planning primitive for car-like vehicles. It is a completely parametrized quintic spline, denoted as η-spline, that allows interpolating an arbitrary sequence of points with overall second order geometric (G2-) continuity. Issues such as minimality, regularity, symmetry, and flexibility of these G2-splines are addressed in the exposition. The development of the new primitive is tightly connected to the flatness based control of nonholonomic car-like vehicles.
Quintic G2-splines for the Trajectory Planning of Autonomous Vehicles / Piazzi, Aurelio; GUARINO LO BIANCO, Corrado. - (2000), pp. 198-203. (Intervento presentato al convegno IEEE Intelligent Vehicle Symposium 2000, IV2000 tenutosi a Dearborn (MI), USA nel 3-5 October 2000) [10.1109/IVS.2000.898341].
Quintic G2-splines for the Trajectory Planning of Autonomous Vehicles
PIAZZI, Aurelio;GUARINO LO BIANCO, Corrado
2000-01-01
Abstract
This paper presents a new motion planning primitive for car-like vehicles. It is a completely parametrized quintic spline, denoted as η-spline, that allows interpolating an arbitrary sequence of points with overall second order geometric (G2-) continuity. Issues such as minimality, regularity, symmetry, and flexibility of these G2-splines are addressed in the exposition. The development of the new primitive is tightly connected to the flatness based control of nonholonomic car-like vehicles.| File | Dimensione | Formato | |
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