首页>
外国专利>
Path approximation for planar motion of a ground vehicle
Path approximation for planar motion of a ground vehicle
展开▼
机译:地面车辆平面运动的路径近似
展开▼
页面导航
摘要
著录项
相似文献
摘要
The generation of a planar trajectory for use by a vehicle in guiding its position is described. The trajectory is generated by identifying points representing the trajectory, fairing the identified points to generate a set of faired points, and computing a set of polynomial segments from the faired points. The segments form a curve representing the trajectory, where the curve is C2-smooth, and the curve does not exceed the steering capability of the vehicle. The segments may comprise cubic B-spline segments. If the identified points are not substantially equidistant, then an auxiliary curve approximating the trajectory is generated, and a set of substantially equidistant points on the auxiliary curve is selected as the identified points.
展开▼