This paper presents a new motion planning primitive to be used for the iterative steering of vision-based autonomous vehicles. This primitive is a parameterized quintic spline, denoted as /spl eta/-spline, that allows interpolating an arbitrary sequence of points with overall second-order geometric (G/sup 2/-) continuity. Issues such as completeness, minimality, regularity, symmetry, and flexibility of these G/sup 2/-splines are addressed in the exposition. The development of the new primitive is tightly connected to the inversion control of nonholonomic car-like vehicles. The paper also exposes a supervisory strategy for iterative steering that integrates feedback vision data processing with the feedforward inversion control.


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    Title :

    Quintic G/sup 2/-splines for the iterative steering of vision-based autonomous vehicles


    Contributors:
    Piazzi, A. (author) / Lo Bianco, C.G. (author) / Bertozzi, M. (author) / Fascioli, A. (author) / Broggi, A. (author)


    Publication date :

    2002-03-01


    Size :

    389311 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Quintic G^2-Splines for the Iterative Steering of Vision-Based Autonomous Vehicles

    Piazzi, A. / Bianco, C. G. L. / Bertozzi, M. et al. | British Library Online Contents | 2002


    Quintic G^2-Splines for the Iterative Steering of Vision-Based Autonomous Vehicles

    Piazzi, A. / Bianco, C. G. L. / Bertozzi, M. et al. | British Library Conference Proceedings | 2000



    Quintic G^2 - Splines For Trajectory Planning of Autonomous Vehicles

    Piazzi, A. / Guarino Lo Bianco, C. / IEEE | British Library Conference Proceedings | 2000


    Quintic G/sup 2/-splines for trajectory planning of autonomous vehicles

    Piazzi, A. / Guarino Lo Bianco, C. | IEEE | 2000