Systems and methods are provided for generating a maneuver on a propagated route for an unmanned vehicle from a series of waypoints. A planner interface is configured to receive the waypoints and at least one parameter representing constraints on the propagated route of the unmanned vehicle. A curve generation component is configured to determine respective positions for each of a set of N+1 control points for a rational Bezier curve of Nth order from the series of waypoints and the parameter. N is an integer greater than three. A weight generation component is configured to determine scalar weights for the set of N+1 control points from the parameter. A navigation interface is configured to provide the maneuver, generated from the positions for the set of control points and the scalar weights, to a control system of the unmanned vehicle, configured to execute the provided maneuver at the unmanned vehicle.
Maneuver planning with higher order rational Bezier curves
2017-10-10
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
MANEUVER PLANNING WITH HIGHER ORDER RATIONAL BEZIER CURVES
Europäisches Patentamt | 2017
|Higher Order Derivatives of a Rational Bezier Curve
British Library Online Contents | 1995
|Generation hull surfaces using rational cubic Bezier curves
Tema Archiv | 1992
|Trajectory generation based on rational Bezier curves as clothoids
Tema Archiv | 2007
|