Presents a motion planning primitive for car-like vehicles. It is a completely parametrized quintic spline, denoted as /spl eta/-spline, that allows interpolation of an arbitrary sequence of points with overall second order geometric (G/sup 2/-) continuity. Issues such as minimality, regularity, symmetry, and flexibility of these G/sup 2/-splines are addressed in the exposition. The development of the new primitive is tightly connected to the flatness based control of nonholonomic car-like vehicles.


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    Titel :

    Quintic G/sup 2/-splines for trajectory planning of autonomous vehicles


    Beteiligte:


    Erscheinungsdatum :

    01.01.2000


    Format / Umfang :

    460544 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Quintic G^2 - Splines For Trajectory Planning of Autonomous Vehicles

    Piazzi, A. / Guarino Lo Bianco, C. / IEEE | British Library Conference Proceedings | 2000


    Optimal trajectory planning with quintic G^2 splines

    Guarino Lo Bianco, C. / Piazzi, A. / IEEE | British Library Conference Proceedings | 2000


    Optimal trajectory planning with quintic G/sup 2/-splines

    Guarino Lo Bianco, C. / Piazzi, A. | IEEE | 2000


    Quintic G^2-Splines for the Iterative Steering of Vision-Based Autonomous Vehicles

    Piazzi, A. / Bianco, C. G. L. / Bertozzi, M. et al. | British Library Online Contents | 2002


    Quintic G^2-Splines for the Iterative Steering of Vision-Based Autonomous Vehicles

    Piazzi, A. / Bianco, C. G. L. / Bertozzi, M. et al. | British Library Conference Proceedings | 2000