2007
DOI: 10.1109/ivs.2007.4290165
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Trajectory Generation based on Rational Bezier Curves as Clothoids

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Cited by 44 publications
(34 citation statements)
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“…An explicit path is described by either of the following: as a sequel of way-point coordinates that are joined by straight line segments or by controlling a parametric curve [5]. Here computation of tracking error involves real-time calculation of the position of the vehicle with respect to the path.…”
Section: Classification Of Path Of Mobile Robotmentioning
confidence: 99%
“…An explicit path is described by either of the following: as a sequel of way-point coordinates that are joined by straight line segments or by controlling a parametric curve [5]. Here computation of tracking error involves real-time calculation of the position of the vehicle with respect to the path.…”
Section: Classification Of Path Of Mobile Robotmentioning
confidence: 99%
“…During the last years, path following problems, whose goal is to generate a path and follow it with a kinematic control law, have been studied intensively because they can be applied in vehicle applications such as: parking (Laumond et al, 1994;Jiang et al, 1999), overtaking and lane changing (Papadimitriou and Tomizuka, 2003;Montés et al, 2007;Wilde, 2009), vision-based line following (Manz et al, 2010;Girbés et al, 2010), etc. In that sense, the well-known Pure-Pursuit method determines appropriate vehicle's curvature and velocity that guarantee convergence to a specific path or trajectory based on current robot pose (Wallace et al, 1985;Ollero and Heredia, 1995;Ollero, 2001).…”
Section: Related Workmentioning
confidence: 99%
“…The path generation for the nonholonomic car-like vehicle makes the path following be harder and difficult to reorient due to its nonholonomic characteristic with kinematic and dynamic constraints. There have been a lot of smooth path generation methods for the vehicle and the continuous curvature path has been focused for its close relationship with vehicle parameters and driving comfort [1,2] The smooth path for the nonholonomic vehicle have been investigated by numerous groups. Dubins [3], Reeds-Shepp [4] and Fraichard-Scheure [5] are prominent pioneering works and its advanced model are carried out by other groups such as [6,7,8,9].…”
Section: Introductionmentioning
confidence: 99%
“…The authors in [10] proposed an infinitely differentiable smooth paths which approximate Dubin paths with bounded curvature and sharpness. The work proposed in [1] tries to solve the overtaking problem in the road based on clothoidal trajectories by approximating the rational Bézier curves, it used the homotetical factor, adjusted by scalable parameter and control points, however the solution needs a large amount of calculation for multi dimensional linear algebraic equation to find the Bézier control points. It is also difficult to acquire the curvature information from the resultant curve.…”
Section: Introductionmentioning
confidence: 99%