Continuous curvature path generation based on -spline curves for parking manoeuvres

2008 ◽  
Vol 56 (4) ◽  
pp. 360-372 ◽  
Author(s):  
F. Gómez-Bravo ◽  
F. Cuesta ◽  
A. Ollero ◽  
A. Viguria
Keyword(s):  
Path Generation ◽  
Spline Curves ◽  
Continuous Curvature

Run-Time Three-Dimensional Blend-Path Generation for Cobot Constraint Surfaces

2002 ◽  
Author(s):  
Eric L. Faulring ◽  
J. Edward Colgate
Keyword(s):  
Three Dimensional ◽  
Path Generation ◽  
One Dimensional ◽  
Mode Operation ◽  
Initial Location ◽  
Free Mode ◽  
Run Time ◽  
Continuous Curvature ◽  
Constraint Surface ◽  
Typical Scenario

During human-cobot interaction, transitions often occur between free mode operation and constraint surface following. This paper considers the following typical scenario: an operator of a three-dimensional (e.g. x-y-z or x-y-θ) cobot commands a “join” from free mode to a one-dimensional constraint path. To ensure that this transition is smooth and responsive, a “blend path” is computed that joins the cobot’s initial location to a location on the constraint path. The blend path must match tangency and curvature at each end, and must also exhibit continuous curvature. A novel “triple-clothoid” algorithm is developed that meets these requirements. In addition, we demonstrate that the triple-clothoid is particularly amenable to x-y-θ systems via implementation on a planar cobot.

scholarly journals 3110 Path Generation for Autonomous Vehicle by B-Spline Curves

2008 ◽  
Vol 2008.18 (0) ◽  
pp. 411-414
Author(s):  
Shigefumi Tamura ◽  
Tomonori Ozaki ◽  
Tetsuya Noda ◽  
Takashi Maekawa
Keyword(s):  
Autonomous Vehicle ◽  
Path Generation ◽  
B Spline ◽  
Spline Curves

scholarly journals Continuous-Curvature Path Generation Using Fermat's Spiral

2013 ◽  
Vol 34 (4) ◽  
pp. 183-198 ◽  
Author(s):  
Anastasios M. Lekkas ◽  
Andreas Reason Dahl ◽  
Morten Breivik ◽  
Thor I. Fossen
Keyword(s):  
Path Generation ◽  
Continuous Curvature

scholarly journals Examining the Use of B-Splines in Parking Assist Systems

2014 ◽  
Vol 490-491 ◽  
pp. 1025-1029 ◽  
Author(s):  
Mohamed Elbanhawi ◽  
Milan Simic
Keyword(s):  
Intelligent Vehicles ◽  
Parallel Parking ◽  
B Splines ◽  
Spline Curves ◽  
Parking Spot ◽  
Feasible Range ◽  
Automatic Parking ◽  
Path Curvature ◽  
Continuous Curvature ◽  
The Relationship

The main objective of the presented study and simulations conducted was to investigate the prospect of using B-spline curves for the automatic parking, i.e. self-driving, or intelligent vehicles. We consider the problem of parallel parking for a non-holonomic vehicle with a known maximum path curvature. The relationship between the properties of the path and the geometry of corresponding parking spot is revealed. The unique properties of B-splines are exploited to synthesize a path that is smooth and of continuous curvature. The contributions of this project are in the generations of better, smooth continuous paths. This improves passenger comfort during the parallel parking maneuver and allow vehicles to park in tighter spots by increasing the feasible range of the parking manoeuver.

Curvature continuous path generation for autonomous vehicle using B-spline curves

2010 ◽  
Vol 42 (4) ◽  
pp. 350-359 ◽  
Author(s):  
Takashi Maekawa ◽  
Tetsuya Noda ◽  
Shigefumi Tamura ◽  
Tomonori Ozaki ◽  
Ken-ichiro Machida
Keyword(s):  
Autonomous Vehicle ◽  
Path Generation ◽  
Continuous Path ◽  
B Spline ◽  
Spline Curves

Synthesis of Path Generation Compliant Mechanisms Using Variable Width Spline Curves

2014 ◽  
Author(s):  
Hong Zhou ◽  
Nisar Ahmed
Keyword(s):  
Compliant Mechanisms ◽  
Path Generation ◽  
Shape Description ◽  
Control Parameters ◽  
Spline Curve ◽  
Spline Curves ◽  
Curved Paths ◽  
Generation Mechanisms ◽  
Synthesis Approach ◽  
Interpolation Nodes

Path generation is to guide a point tracing a prescribed path. Compliant mechanisms (CMs) have been synthesized for path generation mechanisms. In this paper, each connection in a synthesized CM is represented as a variable width spline curve and the entire synthesized CM is modeled as a set of variable width spline curves. The synthesis of a path generation CM is systemized as the optimization of control parameters of a set of variable width spline curves. A variable width spline curve is a center spline curve with variable perpendicular width. The center spline curve is for the shape description of its represented connection while variable width is for the size of the connection. The shape and size of a variable width spline curve is defined by its interpolation circles. The locations of interpolation circles are utilized as interpolation nodes of the center spline curve for connection shape and the diameters of interpolations circles are interpolated for connection size. The centers of all interpolation circles in a synthesized CM form a network of nodes. The network of nodes decides the topology of the synthesized CM and can be classified based on degree of genus (DOG). The presented synthesis approach is demonstrated by synthesizing CMs with different DOGs to generate curved paths.

Efficient continuous curvature path generation with pseudo-parametrized algebraic splines

2018 ◽  
Vol 9 (4) ◽  
pp. 557-570 ◽  
Author(s):  
Federico Pinchetti ◽  
Alexander Joos ◽  
Walter Fichter
Keyword(s):  
Path Generation ◽  
Continuous Curvature
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