期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 26, 期 3, 页码 561-568出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2010.2042990
关键词
Bezier curves; continuous-curvature path; path smoothing; upper bounded curvature constraint
类别
资金
- Australian Research Council (ARC)
- New South Wales State Government
An efficient and analytical continuous-curvature path-smoothing algorithm, which fits an ordered sequence of waypoints generated by an obstacle-avoidance path planner, is proposed. The algorithm is based upon parametric cubic Bezier curves; thus, it is inherently closed-form in its expression, and the algorithm only requires the maximum curvature to be defined. The algorithm is, thus, computational efficient and easy to implement. Results show the effectiveness of the analytical algorithm in generating a continuous-curvature path, which satisfies an upper bound-curvature constraint, and that the path generated requires less control effort to track and minimizes control-input variability.
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