This paper explains a fast overtaking algorithm for IVHS based on clothoidal trajectories. In spite of the fact that clothoidal trajectory generation requires complicated computation of Fresnel integrals, in this paper, an on-line clothoidal path is obtained just by scaling a general parametric curve. This is based on a general offline approximation of the Fresnel integrals into Rational Bezier Curves (RBC) which are later used in the generation of on-line clothoidal paths. In addition, in order to obtain a fast algorithm, a new methodology to approximate the Fresnel integrals into RBC is proposed. This approach guarantees that the resulting curve has the same behavior than the clothoid. In particular for overtaking maneuvers, a clothoidal path composed of two equal elementary paths is generated. Each one constructed joining two piecewise identical clothoids. A 3D simulation environment has been used for testing the trajectory generation algorithm described in the paper. As can be seen, the obstacle avoidance module generates free-collision intermediate positions which are reached by clothoidal paths.


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    Titel :

    Trajectory Generation based on Rational Bezier Curves as Clothoids


    Beteiligte:
    Montes, Nicolas (Autor:in) / Mora, Marta C. (Autor:in) / Tornero, Josep (Autor:in)


    Erscheinungsdatum :

    01.06.2007


    Format / Umfang :

    1017394 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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