کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10326944 | 680428 | 2015 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A path generation for automated vehicle based on Bezier curve and via-points
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper presents a path generation method for automated vehicle based on Bezier curve. Derivation of smooth path is one of important subjects for vehicle navigation system. Bezier curve is a smooth parametric curve, but adequate assignment of its control points that determine the shape of Bezier curve is not a simple problem. In the proposed method, first nth-order base Bezier curve in N-dimension is derived with the end point constraints (location and velocity). As a next step, path modification is done by using constrained optimization with designated via-points. The presented method is tested by several calculation experiments in case of 2-dimensional and 3-dimensional path. The results are shown and discussed in this paper.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 74, Part A, December 2015, Pages 243-252
Journal: Robotics and Autonomous Systems - Volume 74, Part A, December 2015, Pages 243-252
نویسندگان
Kuniaki Kawabata, Liang Ma, Jianru Xue, Chengwei Zhu, Nanning Zheng,