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Title: Accurate and efficient approximation of clothoids using Bézier curves for path planning
Authors: Chen, Yong
Cai, Yiyu
Zheng, Jianmin
Thalmann, Daniel
Keywords: Engineering::Mechanical engineering::Robots
Issue Date: 2017
Source: Chen, Y., Cai, Y., Zheng, J., & Thalmann, D. (2017). Accurate and efficient approximation of clothoids using Bézier curves for path planning. IEEE Transactions on Robotics, 33(5), 1242-1247. doi:10.1109/TRO.2017.2699670
Journal: IEEE Transactions on Robotics
Abstract: An accurate and efficient clothoid approximation approach is presented in this paper using Bézier curves based on the minimization of curvature profile difference. Compared with existing methods, the proposed approach is able to guarantee higher order geometric continuity with smaller approximation error in terms of position, orientation, and curvature. The approximation scheme takes place in three stages. First, a subset of clothoids with specific winding angle constraints referred to as elementary clothoids is approximated using quintic Bézier curves. Then, a basic clothoid defined in the first quadrant is formulated, which is composed of a series of transformed elementary clothoids. An adaptive sampling stra-tegy is applied to ensure that the resulting Bézier segments are computed within a specified accuracy and all the required information can be obtained offline and stored in a lookup table. Finally, a general clothoid with arbitrary parameters can be conveniently approximated based on the lookup table through appropriate geometric transformations. A comparison with the recent circular interpolation and rational Bézier curve based approximation shows that the proposed approach is able to achieve equivalent or greater computational efficiency in most scenarios.
ISSN: 1552-3098
DOI: 10.1109/TRO.2017.2699670
Rights: © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
Fulltext Permission: open
Fulltext Availability: With Fulltext
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