This paper explains a fast overtaking algorithm for IVHS based on clothoidal trajectories. In spite of the fact that clothoidal trajectory generation requires complicated computation of Fresnel integrals, in this paper, an on-line clothoidal path is obtained just by scaling a general parametric curve. This is based on a general offline approximation of the Fresnel integrals into rational Bezier curves (RBC) which are later used in the generation of on-line clothoidal paths. In addition, in order to obtain a fast algorithm, a new methodology to approximate the Fresnel integrals into RBC is proposed. This approach guarantees that the resulting curve has the same behavior than the clothoid. In particular for overtaking maneuvers, a clothoidal path composed of two equal elementary paths is generated. Each one constructed joining two piecewise identical clothoids. A 3D simulation environment has been used for testing the trajectory generation algorithm described in the paper. As can be seen, the obstacle avoidance module generates free-collision intermediate positions which are reached by clothoidal paths.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Trajectory generation based on rational Bezier curves as clothoids


    Contributors:
    Montes, N. (author) / Mora, M.C. (author) / Tornero, J. (author)


    Publication date :

    2007


    Size :

    6 Seiten, 19 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Trajectory Generation Based on Rational Bezier Curves As Clothoids

    Montes, N. / Mora, M.C. / Tornero, J. et al. | British Library Conference Proceedings | 2007


    Trajectory Generation based on Rational Bezier Curves as Clothoids

    Montes, Nicolas / Mora, Marta C. / Tornero, Josep | IEEE | 2007


    Trajectory Planning for UGV Using Clothoids

    Matias, Lucas P. N. / Santos, Tiago C. / Wolf, Denis F. et al. | Springer Verlag | 2016


    Approach trajectory generation using Bezier curves

    Tromba, David / Munteanu, Lukas / Schneider, Volker et al. | IEEE | 2015


    Cooperative Trajectory Generation Using Pythagorean Hodograph Bézier Curves

    Choe, Ronald / Puig-Navarro, Javier / Cichella, Venanzio et al. | AIAA | 2016