G2 B-Spline Computation for Continuous Trajectory Generation

Huiqiao Ren, Katsuki Fujisawa

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抄録

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.

本文言語英語
ホスト出版物のタイトル2021 6th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ページ69-75
ページ数7
ISBN(電子版)9780738146942
DOI
出版ステータス出版済み - 7 16 2021
イベント6th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2021 - Tokyo, 日本
継続期間: 7 16 20217 18 2021

出版物シリーズ

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

会議

会議6th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2021
国/地域日本
CityTokyo
Period7/16/217/18/21

All Science Journal Classification (ASJC) codes

  • 人工知能
  • 制御と最適化

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