期刊
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
卷 3, 期 4, 页码 547-558出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIV.2018.2874532
关键词
B-spline curves; autonomous vehicles; haul road; path planning
In this paper, we introduce an algorithm for generating collision-free two-lane paths for unmanned vehicles used at mining sites by using quartic (degree 4) B-spline curves. Given the boundary geometry of the haul road area and the positions and orientations of the two-dimensional vehicle at the start and goal points, the algorithm automatically generates a collision-free twolane path that satisfies the minimum turning radius constraint. Moreover, the resulting path shares the same third derivative at knots (joints), i.e., C-3 continuity, which guarantees a continuous rate of change of the curvature along the entire path. Examples are provided to demonstrate the effectiveness of the proposed algorithm.
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