TY - GEN
T1 - G2 B-Spline Computation for Continuous Trajectory Generation
AU - Ren, Huiqiao
AU - Fujisawa, Katsuki
N1 - Funding Information:
ACKNOWLEDGMENT 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 - 2021/7/16
Y1 - 2021/7/16
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85115095713&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85115095713&partnerID=8YFLogxK
U2 - 10.1109/ACIRS52449.2021.9519319
DO - 10.1109/ACIRS52449.2021.9519319
M3 - Conference contribution
AN - SCOPUS:85115095713
T3 - 2021 6th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2021
SP - 69
EP - 75
BT - 2021 6th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2021
Y2 - 16 July 2021 through 18 July 2021
ER -