This paper presents a new motion planning primitive to be used for the iterative steering of vision-based autonomous vehicles. This primitive is a parameterized quintic spline, denoted as /spl eta/-spline, that allows interpolating an arbitrary sequence of points with overall second-order geometric (G/sup 2/-) continuity. Issues such as completeness, 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 inversion control of nonholonomic car-like vehicles. The paper also exposes a supervisory strategy for iterative steering that integrates feedback vision data processing with the feedforward inversion control.
Quintic G/sup 2/-splines for the iterative steering of vision-based autonomous vehicles
IEEE Transactions on Intelligent Transportation Systems ; 3 , 1 ; 27-36
2002-03-01
389311 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Quintic G^2-Splines for the Iterative Steering of Vision-Based Autonomous Vehicles
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