Trajectory Generation using Spatial Pythagorean Hodograph Bezier Curves

2015 ◽  
Author(s):  
Ronald Choe ◽  
Javier Puig ◽  
Venanzio Cichella ◽  
Enric Xargay ◽  
Naira Hovakimyan
Keyword(s):  
Trajectory Generation ◽  
Bezier Curves ◽  
Bézier Curves ◽  
Pythagorean Hodograph

Cooperative Trajectory Generation Using Pythagorean Hodograph Bézier Curves

2016 ◽  
Vol 39 (8) ◽  
pp. 1744-1763 ◽  
Author(s):  
Ronald Choe ◽  
Javier Puig-Navarro ◽  
Venanzio Cichella ◽  
Enric Xargay ◽  
Naira Hovakimyan
Keyword(s):  
Trajectory Generation ◽  
Bezier Curves ◽  
Bézier Curves ◽  
Pythagorean Hodograph

scholarly journals Real-time Trajectory Generation for Multiple Drones using Bézier Curves

2020 ◽  
Vol 53 (2) ◽  
pp. 9276-9281
Author(s):  
Bahareh Sabetghadam ◽  
Rita Cunha ◽  
António Pascoal
Keyword(s):  
Real Time ◽  
Trajectory Generation ◽  
Bezier Curves ◽  
Bézier Curves

scholarly journals Modelling of joining route segments of different curvature

2016 ◽  
Vol 11 (1) ◽  
pp. 1-10
Author(s):  
Władysław Koc ◽  
Katarzyna Palikowska
Keyword(s):  
Differential Equations ◽  
Dynamic Model ◽  
Dynamic Properties ◽  
Transition Curve ◽  
Bezier Curves ◽  
Bézier Curves ◽  
Circular Arcs ◽  
Pythagorean Hodograph ◽  
Linear And Nonlinear ◽  
General Method

The paper presents a new general method of modelling route segments curvature using differential equations. The method enables joining of route segments of different curvature. Transitional curves of linear and nonlinear curvatures have been identified in the case of joining two circular arcs by S-shaped and C-oval transitions. The obtained S-shaped curves have been compared to the cubic C-Bezier curves and to the Pythagorean hodograph quantic Bezier curve using the Lateral Change of Acceleration diagram and the dynamic model. The analysis of dynamic properties has showed an advantage of the obtained transition curve of nonlinear curvature over Bezier curves.

Vision-based smooth obstacle avoidance motion trajectory generation for autonomous mobile robots using Bézier curves

2016 ◽  
Vol 231 (3) ◽  
pp. 541-554 ◽  
Author(s):  
Kenneth Renny Simba ◽  
Naoki Uchiyama ◽  
Mohammad Aldibaja ◽  
Shigenori Sano
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Optimal Path ◽  
Trajectory Generation ◽  
Computation Time ◽  
Autonomous Mobile Robots ◽  
Bezier Curves ◽  
Bézier Curves ◽  
Time Motion

This paper proposes an obstacle avoidance trajectory generation method that provides a smooth trajectory in real time. The trajectory is generated from an environmental top-view image, where a fisheye lens is used to capture a wide area at low height. Corners of the obstacles are detected and corrected using the log-polar transform and are used to generate a simple configuration space that reduces the computation time. An optimal path is computed by using the A[Formula: see text] algorithm and replaced by a smooth trajectory generated based on piecewise quintic Bézier curves. Based on the established goal and visual information, a method for generating the first and second derivatives at the start and end points of each Bézier segment is proposed to generate a continuous curvature trajectory. The method is simple and easy to implement and has an average computation time of 1.17s on a PC (CPU: 1.4 GHz) for a workspace containing five to six obstacles. Experimental results verify that the proposed method is effective for real-time motion planning of autonomous mobile robots.

Quadratic Bezier Curves for Multi-Agent Coordinated Arrival in the Presence of Obstacles

2021 ◽  
Author(s):  
Satyanarayana G. Manyam ◽  
David Casbeer ◽  
Isaac E. Weintraub ◽  
Dzung M. Tran ◽  
Justin M. Bradley ◽  
...  
Keyword(s):  
Bezier Curves ◽  
Bézier Curves ◽  
Multi Agent
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