TY - GEN
T1 - Obstacle Avoidable G2-continuous Trajectory Generated with Clothoid Spline Solution
AU - Ren, Huiqiao
AU - Fujisawa, Katsuki
N1 - Funding Information:
This research project was supported by the Japan Science and Technology Agency (JST), the Core Research of Evolutionary Science and Technology (CREST), and JSPS KAKENHI Grant Number JP16H01707.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/4/16
Y1 - 2021/4/16
N2 - 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.
AB - 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.
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U2 - 10.1109/ICCRE51898.2021.9435729
DO - 10.1109/ICCRE51898.2021.9435729
M3 - Conference contribution
AN - SCOPUS:85107719972
T3 - 2021 6th International Conference on Control and Robotics Engineering, ICCRE 2021
SP - 23
EP - 27
BT - 2021 6th International Conference on Control and Robotics Engineering, ICCRE 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Control and Robotics Engineering, ICCRE 2021
Y2 - 15 April 2021 through 17 April 2021
ER -