Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10326944 | Robotics and Autonomous Systems | 2015 | 10 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Kuniaki Kawabata, Liang Ma, Jianru Xue, Chengwei Zhu, Nanning Zheng,