Use of cubic Bézier curves for route planning
نویسندگان
چکیده
We consider the use of cubic Bézier curves for planning UAV routes. The proposed approach allows the user to trade off the length of the solution route with the level of risk/hazard exposure encountered. Exhaustive search is used to place control points on a 2D grid superimposed on the environment. High quality routes are generated using relatively course grids. Comparison is made with the graph theoretic A* technique.
منابع مشابه
An Optimal G^2-Hermite Interpolation by Rational Cubic Bézier Curves
In this paper, we study a geometric G^2 Hermite interpolation by planar rational cubic Bézier curves. Two data points, two tangent vectors and two signed curvatures interpolated per each rational segment. We give the necessary and the sufficient intrinsic geometric conditions for two C^2 parametric curves to be connected with G2 continuity. Locally, the free parameters w...
متن کاملSmoothing Arc Splines Using Cubic Bézier Spiral Transitions
Arc splines are planar, tangent continuous, piecewise curves made of circular arcs and straight line segments. They are important in manufacturing industries because of their use in the cutting paths for numerically controlled cutting machinery, highway route and robot paths. This paper considers how to smooth three kinds of G biarc models: the C-, S-, and J-shaped, by replacing their parts by ...
متن کاملBézier Curve for Trajectory Guidance
In this paper we present two path planning algorithms based on Bézier curves for autonomous vehicles with waypoints and corridor constraints. Bézier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bézier curve ...
متن کاملPath Planning based on Bézier Curve for Autonomous Ground Vehicles
In this paper we present two path planning algorithms based on Bézier curves for autonomous vehicles with waypoints and corridor constraints. Bézier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bézier curve ...
متن کاملThe CAT Bézier Curves
A class of cubic Bézier-type curves based on the blending of algebraic and trigonometric polynomials, briefly CAT Bézier curves, is presented in this paper. The CAT Bézier curves retain the main superiority of cubic Bézier curves. The CAT Bézier curves can approximate the Bézier curves from the both sides, and the shapes of the curves can be adjusted totally or locally. With the shape parameter...
متن کامل