• DocumentCode
    2816733
  • 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
  • fYear
    2000
  • fDate
    2000
  • Firstpage
    198
  • Lastpage
    203
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE
  • Conference_Location
    Dearborn, MI
  • Print_ISBN
    0-7803-6363-9
  • Type

    conf

  • DOI
    10.1109/IVS.2000.898341
  • Filename
    898341
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2816733