کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
439654 690822 2010 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Curvature continuous path generation for autonomous vehicle using B-spline curves
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر گرافیک کامپیوتری و طراحی به کمک کامپیوتر
پیش نمایش صفحه اول مقاله
Curvature continuous path generation for autonomous vehicle using B-spline curves
چکیده انگلیسی

In this paper we introduce a roadmap algorithm for generating collision-free paths in terms of cubic B-spline curves for unmanned vehicles used in mining operations. The algorithm automatically generates collision-free paths that are curvature continuous with an upper bounded curvature and a small slope discontinuity of curvature at knots, when we are given the locations of the obstacles, the boundary geometry of the working area, positions and directions of the vehicle at the start, loading, and the goal points. Our algorithm also allows us to find a switch back point where the vehicle reverses its direction to enter the loading area. Examples are provided to demonstrate the effectiveness of the proposed algorithms.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Computer-Aided Design - Volume 42, Issue 4, April 2010, Pages 350–359
نویسندگان
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