Title :
Quintic G2-splines for trajectory planning of autonomous vehicles
Author :
Piazzi, Aurelio ; Bianco, Corrado Guarino Lo
Author_Institution :
Dipt. di Ingegneria dell´´Inf., Parma Univ., Italy
Abstract :
Presents a motion planning primitive for car-like vehicles. It is a completely parametrized quintic spline, denoted as η-spline, that allows interpolation of 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
Keywords :
interpolation; mobile robots; path planning; polynomials; splines (mathematics); autonomous vehicles; completely parametrized quintic spline; flatness based control; flexibility; minimality; motion planning primitive; nonholonomic car-like vehicles; quintic G2-splines; regularity; second order geometric continuity; symmetry; trajectory planning; Bibliographies; Control systems; Mobile robots; Motion control; Open loop systems; Optimal control; Remotely operated vehicles; Spline; Trajectory; Vehicle driving;
Conference_Titel :
Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-6363-9
DOI :
10.1109/IVS.2000.898341
