Implementing B-Spline Path Planning Method Based on Roundabout Geometry Elements

Cao, Hang; Zöldy, Máté

doi:10.1109/access.2022.3193667

Cited by 13 publications

(7 citation statements)

References 42 publications

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“…There are many studies on B spline. For roundabout exit traverse planners, a parametric B-spline-based path planning approach has been suggested by certain researchers [39]. According to certain academic research, high-degree B-spline interpolation has excellent Fourier features, little interpolation error, and reasonable computation durations, making it appropriate for using in image processing applications [40].…”

Section: B-spline Curvementioning

confidence: 99%

Review of path planning of welding robot based on spline curve

He,

Teo,

Moey

2024

J. Mech. Eng. Sci.

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This paper assesses the efficacy of intelligent path planning for welding robots utilizing splines. Traditional path planning methods can result in inefficient and inaccurate welding operations. The study reviews current research and case studies to appraise the practical application of spline-based path planning across diverse industrial scenarios. It underscores the benefits of discovering the shortest path and reducing cycle time while acknowledging challenges such as calibration accuracy and sensitivity to sensor data noise. The introduction of artificial intelligence algorithms in automobile welding path planning enables a more precise replication of the body's design curve, ensuring the continuity and smoothness of the welding process. This, in turn, fosters further automation and optimization of the automotive welding manufacturing process. The current research concentrates on integrating intelligent optimization algorithms and spline curves to provide an efficient and intelligent method for welding path planning. Intelligent path planning based on spline curves demonstrates significant potential in enhancing welding efficiency, determining the shortest path, and holds promising applications in the broader research field of welding path planning.

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Section: B-spline Curvementioning

confidence: 99%

Review of path planning of welding robot based on spline curve

He,

Teo,

Moey

2024

J. Mech. Eng. Sci.

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“…Thus, the obtained path should be further smoothed to make it be successfully tracked by the vehicle [ 40 ]. The cubic B-spline curve can move a control point to make the local modification without affecting the overall shape of the path and have a simple implementation and relatively low computational cost to ensure kinematic feasibility while avoiding an obstacle [ 41 ]. In addition, it is also often adopted to obtain a continuously differentiable cure [ 42 ].…”

Section: Improved Heuristic Bi-rrt Algorithmmentioning

confidence: 99%

Local Path Planning of Autonomous Vehicle Based on an Improved Heuristic Bi-RRT Algorithm in Dynamic Obstacle Avoidance Environment

Zhang

Zhu

et al. 2022

Sensors

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The existing variants of the rapidly exploring random tree (RRT) cannot be effectively applied in local path planning of the autonomous vehicle and solve the coherence problem of paths between the front and back frames. Thus, an improved heuristic Bi-RRT algorithm is proposed, which is suitable for obstacle avoidance of the vehicle in an unknown dynamic environment. The vehicle constraint considering the driver’s driving habit and the obstacle-free direct connection mode of two random trees are introduced. Multi-sampling biased towards the target state reduces invalid searches, and parent node selection with the comprehensive measurement index accelerates the algorithm’s execution while making the initial path gentle. The adaptive greedy step size, introducing the target direction, expands the node more effectively. Moreover, path reorganization minimizes redundant path points and makes the path’s curvature continuous, and path coherence makes paths between the frames connect smoothly. Simulation analysis clarifies the efficient performance of the proposed algorithm, which can generate the smoothest path within the shortest time compared with the other four algorithms. Furthermore, the experiments on dynamic environments further show that the proposed algorithm can generate a differentiable coherence path, ensuring the ride comfort and stability of the vehicle.

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“…This guarantees a bounded jerk if the vehicle travels at a constant speed and is often achieved with variations of clothoid [16], [17]. Some studies exploit the smoothness of parametric curves, e.g., splines and Bezier curves, to plan a path or velocity profile [18]- [21]. These approaches ensure that the higher-order time derivatives of the motion profile are bounded.…”

Section: Introductionmentioning

confidence: 99%

Mitigating Motion Sickness With Optimization-Based Motion Planning

Zheng

Shyrokau

Keviczky

2024

IEEE Trans. Intell. Veh.

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The acceptance of automated driving is under the potential threat of motion sickness. It hinders the passengers' willingness to perform secondary activities. In order to mitigate motion sickness in automated vehicles, we propose an optimization-based motion planning algorithm that minimizes the distribution of acceleration energy within the frequency range that is found to be the most nauseogenic. The algorithm is formulated into integral and receding-horizon variants and compared with a commonly used alternative approach aiming to minimize accelerations in general. The proposed approach can reduce frequency-weighted acceleration by up to 11.3% compared with not considering the frequency sensitivity for the price of reduced overall acceleration comfort. Our simulation studies also reveal a loss of performance by the recedinghorizon approach over the integral approach when varying the preview time and nominal sampling time. The computation time of the receding-horizon planner is around or below the realtime threshold when using a longer sampling time but without causing significant performance loss. We also present the results of experiments conducted to measure the performance of human drivers on a public road section that the simulated scenario is actually based on. The proposed method can achieve a 19% improvement in general acceleration comfort or a 32% reduction in squared motion sickness dose value over the best-performing participant. The results demonstrate considerable potential for improving motion comfort and mitigating motion sickness using our approach in automated vehicles.

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Implementing B-Spline Path Planning Method Based on Roundabout Geometry Elements

Cited by 13 publications

References 42 publications

Review of path planning of welding robot based on spline curve

Review of path planning of welding robot based on spline curve

Local Path Planning of Autonomous Vehicle Based on an Improved Heuristic Bi-RRT Algorithm in Dynamic Obstacle Avoidance Environment

Mitigating Motion Sickness With Optimization-Based Motion Planning

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