Article | Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016 | Spline Trajectory Planning for Path with Piecewise Linear Boundaries Linköping University Electronic Press Conference Proceedings
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Title:
Spline Trajectory Planning for Path with Piecewise Linear Boundaries
Author:
Hiroyuki Kano: Division of Science, Tokyo Denki University, Saitama 350-0394, Japan Hiroyuki Fujioka: Department of System Management, Fukuoka Institute of Technology, Fukuoka 811-0295, Japan
DOI:
10.3384/ecp17142439
Download:
Full text (pdf)
Year:
2018
Conference:
Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016
Issue:
142
Article no.:
064
Pages:
439-445
No. of pages:
7
Publication type:
Abstract and Fulltext
Published:
2018-12-19
ISBN:
978-91-7685-399-3
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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We consider a problem of trajectory planning for path with piecewise linear boundaries. The trajectory is constructed as smoothing splines using normalized uniform B-splines as the basis functions. The boundary constraints are treated as a collection of inequality pairs by right and left boundary lines, and are formulated as linear inequality constraints on the so-called control point vector. Smoothing splines are constructed as an approximation of a piecewise linear centerline of the given path, where the given entire time interval is divided into subintervals according to the centripetal distribution rule. Other constraints as initial and terminal conditions on the trajectory can be included easily, and the problem reduces to convex quadratic programming problem where very ef?cient numerical solvers are available. The effectiveness of the proposed method is con?rmed by an example of fairly complex path with piecewise linear boundaries. Also an example is included to demonstrate its usefulness for trajectory planning in an environment with obstacles.

Keywords: trajectory planning, smoothing spline, B-spline, boundary constraint, quadratic programming problem

Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016

Author:
Hiroyuki Kano, Hiroyuki Fujioka
Title:
Spline Trajectory Planning for Path with Piecewise Linear Boundaries
DOI:
http://dx.doi.org/10.3384/ecp17142439
References:
No references available

Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016

Author:
Hiroyuki Kano, Hiroyuki Fujioka
Title:
Spline Trajectory Planning for Path with Piecewise Linear Boundaries
DOI:
https://doi.org10.3384/ecp17142439
Note: the following are taken directly from CrossRef
Citations:
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Last updated: 2019-10-02