Obstacle Avoidable G2-continuous Trajectory Generated with Clothoid Spline Solution

Huiqiao Ren, Katsuki Fujisawa

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

Abstract

This research engages in generating trajectories with continuous curvature and applying blending cases. Clothoid spline has an important property that its curvature is linear related to its arclength, this property can provide a curvature (G2) continuity to the interpolation operation. But it is rarely used in the trajectory plan because its shape is hard to control to avoid obstacles. This paper uses a collision-free corridor to limit the trajectory generation to avoid obstacles. In a transformable system, using line segments to connect with Clothoid spiral segments, the computation complexity could be greatly reduced by setting the starting conditions equal to zero. With the computation, a unique solution to the spiral segment is found. The computation process and the corresponding algorithm are elaborated in this paper.

Original languageEnglish
Title of host publication2021 6th International Conference on Control and Robotics Engineering, ICCRE 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages23-27
Number of pages5
ISBN (Electronic)9780738126128
DOIs
Publication statusPublished - Apr 16 2021
Event6th International Conference on Control and Robotics Engineering, ICCRE 2021 - Virtual, Beijing, China
Duration: Apr 16 2021Apr 18 2021

Publication series

Name2021 6th International Conference on Control and Robotics Engineering, ICCRE 2021

Conference

Conference6th International Conference on Control and Robotics Engineering, ICCRE 2021
Country/TerritoryChina
CityVirtual, Beijing
Period4/16/214/18/21

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering
  • Embryology
  • Control and Optimization

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