Obstacle Avoidable G2-continuous Trajectory Generated with Clothoid Spline Solution

Huiqiao Ren, Katsuki Fujisawa

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

抄録

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.

本文言語英語
ホスト出版物のタイトル2021 6th International Conference on Control and Robotics Engineering, ICCRE 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ページ23-27
ページ数5
ISBN(電子版)9780738126128
DOI
出版ステータス出版済み - 4 16 2021
イベント6th International Conference on Control and Robotics Engineering, ICCRE 2021 - Virtual, Beijing, 中国
継続期間: 4 16 20214 18 2021

出版物シリーズ

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

会議

会議6th International Conference on Control and Robotics Engineering, ICCRE 2021
国/地域中国
CityVirtual, Beijing
Period4/16/214/18/21

All Science Journal Classification (ASJC) codes

  • 人工知能
  • 制御およびシステム工学
  • 胎生学
  • 制御と最適化

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