Path approximation for planar motion of a ground vehicle
First Claim
1. A method for generating a planar trajectory for use by a vehicle in guiding its position, the method comprising:
- (a) identifying a plurality of points representing the trajectory;
(b) fairing the identified plurality of points to generate a plurality of faired points; and
(b) computing a plurality of polynomial segments from the faired points, wherein the segments form a curve representing the trajectory, the curve is C2-smooth, and the curve does not exceed the steering capability of the vehicle.
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Accused Products
Abstract
The generation of a planar trajectory for use by a vehicle in guiding its position is described. The trajectory is generated by identifying points representing the trajectory, fairing the identified points to generate a set of faired points, and computing a set of polynomial segments from the faired points. The segments form a curve representing the trajectory, where the curve is C2-smooth, and the curve does not exceed the steering capability of the vehicle. The segments may comprise cubic B-spline segments. If the identified points are not substantially equidistant, then an auxiliary curve approximating the trajectory is generated, and a set of substantially equidistant points on the auxiliary curve is selected as the identified points.
37 Citations
20 Claims
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1. A method for generating a planar trajectory for use by a vehicle in guiding its position, the method comprising:
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(a) identifying a plurality of points representing the trajectory; (b) fairing the identified plurality of points to generate a plurality of faired points; and (b) computing a plurality of polynomial segments from the faired points, wherein the segments form a curve representing the trajectory, the curve is C2-smooth, and the curve does not exceed the steering capability of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A computer-readable storage medium comprising computer-executable instructions for representing a planar trajectory for use by a vehicle in guiding its position, the instructions for:
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(a) identifying a plurality of points representing the trajectory; (b) fairing the identified plurality of points to generate a plurality of faired points; and (b) computing a plurality of polynomial segments from the faired points, wherein the segments form a curve representing the trajectory, the curve is C2-smooth, and the curve does not exceed the steering capability of the vehicle. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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15. A method for generating directional control information comprising:
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identifying coordinates of a current position; identifying a polynomial segment of a desired trajectory associated with the current position; and computing a trajectory deviation value associated with a distance of the current position from said the associated segment based upon a point of intersection between the normals of the endpoints of the segment and a line projected between the current position and the point of intersection. - View Dependent Claims (16)
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17. A computer-readable storage medium comprising computer-executable instructions for generating directional control information for a vehicle, the instructions for:
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identifying coordinates of a current position; identifying a polynomial segment of a desired trajectory associated with the current position; and computing a trajectory deviation value associated with a distance of the current position from the associated segment based upon a point of intersection between the normals of the endpoints of said spline segment and a line projected between the current position and the point of intersection. - View Dependent Claims (18, 19, 20)
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Specification