Clothoid-Based Three-Dimensional Curve for Attitude Planning

Girbés, Vicent; Vanegas, Gloria; Armesto, Leopoldo

doi:10.2514/1.g003551

Cited by 13 publications

(38 citation statements)

References 47 publications

(88 reference statements)

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“…The Clothoid representation -also known as Euler curves, has some inherent properties such as (1) linearly varying curvature, and (2) a compact representation (small number of parameters), that will allow us to realize online adaptation within our optimization framework. Clothoids have been utilized in road design [20], path [5] and attitude [13] planning, autonomous driving [19,29], and continuum robotics [14].…”

Section: A Model Representationmentioning

confidence: 99%

Skill-based Shared Control

Mower¹,

Moura²,

Vijayakumar³

2021

Robotics: Science and Systems XVII

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Performing a number of motion patterns -referred to as skills -(e.g., wave, spiral, sweeping motions) during teleoperation is an integral part of many industrial processes such as spraying, welding, and wiping (cleaning, polishing). Maintaining these motions whilst simultaneously avoiding obstacles and traversing complex terrain requires expert operators. In this work, we propose a novel skill-based shared control framework for incorporating the notion of skill assistance to aid novice operators to sustain these motion patterns whilst adhering to environmental constraints. Our shared control method uses streaming joystick data to estimate the model parameters that provide a description of the operator's intention. We introduce a novel parametrization for state and control that combines skill and underlying trajectory models, leveraging a special type of curve known as Clothoids. This new parameterization allows for efficient computation of skill-based short term horizon plans, enabling the use of a Model Predictive Control (MPC) loop. We perform experiments on a hardware mock-up, validating the effectiveness of our method to recognize a switch of intended skill, and showing an improved quality of output motion, even under dynamically changing obstacles. See our accompanying video here: https://youtu.be/TwhsgA6fw6M.

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Section: A Model Representationmentioning

confidence: 99%

Skill-based Shared Control

Mower¹,

Moura²,

Vijayakumar³

2021

Robotics: Science and Systems XVII

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“…We employed a clothoid because the enables smooth steering control as indicated in several studies [41][42][43][44]. Consequently, we considered one hypothesis regarding comfort, which is that the clothoid curve is better for driving comfort.…”

Section: Scenario Of Experimentsmentioning

confidence: 99%

Experimental Study on Different Types of Curves for Ride Comfort in Automated Vehicles

Hashimoto

Takinami

Yamamoto³

2021

Journal of Advanced Transportation

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Vehicle automation is among the best possible solutions for traffic issues, including traffic accidents, traffic jams, and energy consumption. However, the user acceptance of automated vehicles is critical and is affected by riding comfort. In addition, human factors in automated vehicle control should be clear. This study evaluates the effect of different courses on driving comfort in automated vehicles using field experiments with 25 subjects. This study focused on lateral motion, but speed control was not targeted. Further, generating a path for obstacle avoidance and lane keeping, which have several constraining conditions, was also not targeted. Rendering a comfortable path is beneficial for developing an acceptable system as a car developer and for building new curves for automated or driving assistance systems from the perspective of construction. The automated vehicle drove at a speed of 30 km/h on four courses, namely, clothoid, two types of spline curves, and arc, based on the real intersection. Each participant sat on both the driver and passenger seat and answered a questionnaire. The experimental data indicated the clothoid course to be the most comfortable, while the arc was most uncomfortable for a significance level of 1%. These tendencies are applicable to driver and passenger seats, all genders, and experiences and will be beneficial for human factor research in automated vehicle control.

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“…The aim of this work is to generate a smooth flight path in the context of fixed-wing UAV autonomous navigation. A new 3D smooth curve, called Elementary Clothoid-based 3D Curve or ECb3D, is proposed, which is built by combining two symmetric Cb3D [34]. An ECb3D is capable of reaching an arbitrary direction in 3D space, being its curvature and torsion profiles equal to zero at both the beginning and the end of the curve.…”

Section: Introductionmentioning

confidence: 99%

Smooth Three-Dimensional Route Planning for Fixed-Wing Unmanned Aerial Vehicles With Double Continuous Curvature

Vanegas¹,

Armesto²,

Girbés-Juan³

et al. 2022

IEEE Access

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This paper presents a smooth flight path planner for maneuvering in a 3D Euclidean space, which is based on two new space curves. The first one is called "Elementary Clothoid-based 3D Curve (ECb3D)", which is built by concatenating two symmetric Clothoid-based 3D Curves (Cb3D). The combination of these curves allows to reach an arbitrary orientation in 3D Euclidean space. This new curve allows to generate continuous curvature and torsion profiles that start and finish with a null value, which means that they can be concatenated with other curves, such as straight segments, without generating discontinuities on those variables. The second curve is called "Double Continuous Curvature 3D Curve (DCC3D)" which is built as a concatenation of three straight line segments and two ECb3D curves, allowing to reach an arbitrary configuration in position and orientation in the 3D Euclidean space without discontinuities in curvature and torsion. This trajectory is applied for autonomous path planning and navigation of unmanned aerial vehicles (UAVs) such as fixed-wing aircrafts. Finally, the results are validated on the FlightGear 2018 flight simulator with the UAV kadett 2400 platform.

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Clothoid-Based Three-Dimensional Curve for Attitude Planning

Cited by 13 publications

References 47 publications

Skill-based Shared Control

Skill-based Shared Control

Experimental Study on Different Types of Curves for Ride Comfort in Automated Vehicles

Smooth Three-Dimensional Route Planning for Fixed-Wing Unmanned Aerial Vehicles With Double Continuous Curvature

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