G2 B-Spline Computation for Continuous Trajectory Generation

Huiqiao Ren, Katsuki Fujisawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper introduces a scheme of B-spline calculation, which is used for G2 continuous trajectory generation. The B-spline is composed of line segments, Euler spirals, and arcs. By simplifying and digging in the qualities of Euler spirals, we discover a valid spiral segment criterion. This criterion can be used in deciding how to compose the B-spline. One main trait of the trajectory is that this B-spline trajectory is assumed and generated inside a collision-free corridor in every interpolation scenario. Hence, the trajectory can be G2 continuous and avoid instant obstacles in every scenario case.

Original languageEnglish
Title of host publication2021 6th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages69-75
Number of pages7
ISBN (Electronic)9780738146942
DOIs
Publication statusPublished - Jul 16 2021
Event6th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2021 - Tokyo, Japan
Duration: Jul 16 2021Jul 18 2021

Publication series

Name2021 6th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2021

Conference

Conference6th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2021
Country/TerritoryJapan
CityTokyo
Period7/16/217/18/21

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization

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