G2 path smoothing using non-uniform B-spline

Zhen Hua Wang; Wei Guo Zhang; Guang Wen Li; Xu Mu

doi:10.3969/j.issn.1001-506X.2011.07.20

G2 path smoothing using non-uniform B-spline

Zhen Hua Wang, Wei Guo Zhang, Guang Wen Li, Xu Mu

School of Automation

Research output: Contribution to journal › Article › peer-review

6 Scopus citations

Abstract

B-spline is used to smooth the paths which is composed of line segments, and the way of choosing nodes and control points of the spline is given. The smoothed path is of continuous curvature and meets the need of minimum turn radius of unmanned air vehicles (UAVs). Compared with the Bezier method, the prepare distance for turning is shortened to 93.75% of original quantity. The simulation results show that B-spline is more suitable for circumstances with dense obstacles.

Original language	English
Pages (from-to)	1539-1543
Number of pages	5
Journal	Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics
Volume	33
Issue number	7
DOIs	https://doi.org/10.3969/j.issn.1001-506X.2011.07.20
State	Published - Jul 2011

Keywords

B-spline
Continuous curvature
Path planning
Path smoothing
Unmanned aerial vehicle (UAV)

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10.3969/j.issn.1001-506X.2011.07.20

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G2 path smoothing using non-uniform B-spline

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Keywords

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