Curvature Continuous Path Generation for UAVs based on Generalized Expo-Rational B-Splines

T. S. Andersen, Ghada Bouzidi, R. Kristiansen
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Abstract

This paper proposes a new path-planning algorithm based on GERBS to generate curvature continuous paths. The algorithm blends between a set of local curves generating a global smooth path which also interpolates the midpoint of the curves. Numerical examples are provided which demonstrates the potential of the proposed algorithm.
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基于广义有理b样条的无人机曲率连续路径生成
提出了一种新的基于GERBS的路径规划算法来生成曲率连续路径。该算法在一组局部曲线之间进行融合,生成全局平滑路径,并对曲线的中点进行插值。数值算例验证了该算法的可行性。
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