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

自动化学院

Beijing Institute of Control and Electronic Technology
Northwestern Polytechnical University Xian

科研成果: 期刊稿件 › 文章 › 同行评审

6 引用（Scopus）

摘要

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.

源语言	英语
页（从-至）	1539-1543
页数	5
期刊	Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics
卷	33
期	7
DOI	https://doi.org/10.3969/j.issn.1001-506X.2011.07.20
出版状态	已出版 - 7月 2011

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

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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.",

keywords = "B-spline, Continuous curvature, Path planning, Path smoothing, Unmanned aerial vehicle (UAV)",

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AU - Zhang, Wei Guo

AU - Li, Guang Wen

AU - Mu, Xu

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N2 - 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.

AB - 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.

KW - B-spline

KW - Continuous curvature

KW - Path planning

KW - Path smoothing

KW - Unmanned aerial vehicle (UAV)

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JF - Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics

IS - 7

ER -

G2 path smoothing using non-uniform B-spline

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