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논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2013.8
- 수록면
- 66 - 71 (6page)
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초록· 키워드
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In this paper we propose optimization methods for trajectory design using the clothoid spline, which consists of several clothoid curve segments with some parametric or geometric continuity, in two-dimensional space. As a trajectory path, the clothoid curve is superior to other ones because its curvature varies linearly with its arc length. However, a single clothoid segment cannot generally satisfies both tangent and curvature conditions at its end points because the number of parameters, i.e. its degree of freedom is insufficient.
In order to solve the problem mentioned above, “the triple-clothoid”[1], which is a clothoid spline consisting of three clothoid segments, was introduced to match both tangent and curvature boundary conditions. It has sufficient parameters needed for tangent and curvature matching at its end point. The clothoid spline with three segments were used to construct a smooth transition passing through arbitrary point sequence. The resultant trajectory possesses curvature continuity, i.e. G2 continuity and matches all tangent and curvature specifications at the giving points.
However, the clothoid spline with three segments that passes through specified points is not uniquely determined. Therefore we propose optimization methods to minimize the trajectory path length and an energy consumption measure in this paper.
In order to solve the problem mentioned above, “the triple-clothoid”[1], which is a clothoid spline consisting of three clothoid segments, was introduced to match both tangent and curvature boundary conditions. It has sufficient parameters needed for tangent and curvature matching at its end point. The clothoid spline with three segments were used to construct a smooth transition passing through arbitrary point sequence. The resultant trajectory possesses curvature continuity, i.e. G2 continuity and matches all tangent and curvature specifications at the giving points.
However, the clothoid spline with three segments that passes through specified points is not uniquely determined. Therefore we propose optimization methods to minimize the trajectory path length and an energy consumption measure in this paper.
목차
Abstract
1. Introduction
2. Properties of Clothoid
3. Problem of Trajectory Design Using Clothoid Splines
4. Trajectory Design by the Triple Clothoid
5. Comparing the Triple Clothoid with the Single Clothoid
6. Energy of Action
7. Computing the Energy and Arc Length
8. Comparison of the Optimized Trajectories
9. Conclusions
References
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