Name
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 n th-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. A path design method based on Bezier curve.Path satisfies the endpoint restrictions and passes through designated via-points.A base Bezier curve can be derived based on the endpoints restrictions.Constrained optimization approach is introduced to modify the base Bezier curve to pass through the designated via-points.Path generation results are verified by the computer simulations. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1016/j.robot.2015.08.001 | Robotics and Autonomous Systems |
Keywords | Field | DocType |
Path generation,Automated vehicle,Bezier curve,Designated via-points,Constrained optimization | Computer vision,Mathematical optimization,Parametric equation,Path generation,Computer science,Navigation system,Algorithm,End point,Bézier curve,Artificial intelligence,Constrained optimization | Journal |
Volume | Issue | ISSN |
74 | PA | 0921-8890 |
Citations | PageRank | References |
4 | 0.48 | 10 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kuniaki Kawabata | 1 | 187 | 51.01 |
| Liang Ma | 2 | 46 | 14.30 |
| J. Xue | 3 | 542 | 57.57 |
| Chengwei Zhu | 4 | 4 | 0.48 |
| Nanning Zheng | 5 | 3975 | 329.18 |