2017
DOI: 10.1002/mma.4700
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Interpolating clothoid splines with curvature continuity

Abstract: An efficient algorithm for the computation of a C2 interpolating clothoid spline is herein presented. The spline is obtained following an optimisation process, subject to continuity constraints. Among the 9 various targets/problems considered, there are boundary conditions, minimum length path, minimum jerk, and minimum curvature (energy). Some of these problems are solved with just a couple of Newton iterations, whereas the more complex minimisations are solved with few iterations of a nonlinear solver. The s… Show more

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Cited by 29 publications
(14 citation statements)
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“…Measurement in orange and sampled features in blue. more computationally expensive algorithms [17] exceeding our working hypotheses.…”
Section: Detection and Trackingmentioning
confidence: 78%
“…Measurement in orange and sampled features in blue. more computationally expensive algorithms [17] exceeding our working hypotheses.…”
Section: Detection and Trackingmentioning
confidence: 78%
“…The complexity of the problem can be reduced addressing two subproblems separately: firstly the geometric part, accounting for the shape, the length and the comfort (expressed in terms of minimum jerk, see [20], [27], [28]); secondly the kinematic part, dealing with the vehicle dynamics, and yielding a speed profile v to be tracked along the path. A similar decomposition is discussed in [29], [30], [31].…”
Section: Motion Planningmentioning
confidence: 99%
“…arc length. Perusing the notation in [BF15, BF18b, BF18a], if α( t ) is a curve parameterized by arc length, then α is a clothoid if its curvature is of the form …”
Section: Introductionmentioning
confidence: 99%