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

Piazzi, Aurelio; Bianco, Corrado Guarino Lo; Bertozzi, Massimo; Fascioli, Alessandra; Broggi, Alberto

doi:10.1109/6979.994793

Cited by 107 publications

(68 citation statements)

References 28 publications

(34 reference statements)

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“…Numerous approaches for path generation have been proposed in a variety of research fields, such as mobile robot control and automated vehicle systems (21) (24) . Good candidates for path generation in our case would be the cubic B-Spline curves (21) , which are flexible in terms of additive control points.…”

Section: Path Generationmentioning

confidence: 99%

A Car-Steering Model Based on an Adaptive Neuro-Fuzzy Controller

2004

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MemberThis paper is concerned with the development of a car-steering model for traffic simulation. Our focus in this paper is to propose a model of the steering behavior of a human driver for different driving scenarios. These scenarios are modeled in a unified framework using the idea of target position. The proposed approach deals with the driver's approximation and decision-making mechanisms in tracking a target position by means of fuzzy set theory. The main novelty in this paper lies in the development of a learning algorithm that has the intention to imitate the driver's self-learning from his driving experience and to mimic his maneuvers on the steering wheel, using linear networks as local approximators in the corresponding fuzzy areas. Results obtained from the simulation of an obstacle avoidance scenario show the capability of the model to carry out a human-like behavior with emphasis on learned skills.

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Section: Path Generationmentioning

confidence: 99%

A Car-Steering Model Based on an Adaptive Neuro-Fuzzy Controller

2004

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“…Therefore modified interpolation method has applied a mobile robots and vehicles. Piazzi et al attempted to smooth path planning using the quantic -splines [22], the -splines [23,24] and the -splines [25]. However, methods of Piazzi have complex calculations such as high order polynomial and trigonometric functions which require the high performance hardware.…”

Section: Introductionmentioning

confidence: 99%

G²Continuity Smooth Path Planning using Cubic Polynomial Interpolation with Membership Function

Chang¹,

Huh²

2015

Journal of Electrical Engineering and Technology

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-Path planning algorithms are used to allow mobile robots to avoid obstacles and find ways from a start point to a target point. The general path planning algorithm focused on constructing of collision free path. However, a high continuous path can make smooth and efficiently movements. To improve the continuity of the path, the searched waypoints are connected by the proposed polynomial interpolation. The existing polynomial interpolation methods connect two points. In this paper, point groups are created with three points. The point groups have each polynomial. Polynomials are made by matching the differential values and simple matrix calculation. Membership functions are used to distribute the weight of each polynomial at overlapped sections. As a result, the path has continuity. In addition, the proposed method can analyze path numerically to obtain curvature and heading angle. Moreover, it does not require complex calculation and databases to save the created path.

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“…Since then, path smoothing using various types of curves has been proposed. Those worth mentioning are proposals that make use of clothoids [19,20], quintic G 2 splines [21] and intrinsic splines [22]. Other approaches includes curves with closed-form expressions such as the B-spline [23], quintic polynomials [24] and the Bezier curve [25].…”

Section: Introductionmentioning

confidence: 99%

SHP: Smooth Hypocycloidal Paths with Collision-Free and Decoupled Multi-Robot Path Planning

Ravankar

Kobayashi

et al. 2016

International Journal of Advanced Robotic Systems

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Generating smooth and continuous paths for robots with collision avoidance, which avoid sharp turns, is an important problem in the context of autonomous robot navigation. This paper presents novel smooth hypocycloidal paths (SHP) for robot motion. It is integrated with collision-free and decoupled multi-robot path planning. An SHP diffuses (i.e., moves points along segments) the points of sharp turns in the global path of the map into nodes, which are used to generate smooth hypocycloidal curves that maintain a safe clearance in relation to the obstacles. These nodes are also used as safe points of retreat to avoid collision with other robots. The novel contributions of this work are as follows:(1) The proposed work is the first use of hypocycloid geometry to produce smooth and continuous paths for robot motion. A mathematical analysis of SHP generation in various scenarios is discussed. (2) The proposed work is also the first to consider the case of smooth and collision-free path generation for a load carrying robot. (3) Traditionally, path smoothing and collision avoidance have been addressed as separate problems. This work proposes integrated and decoupled collision-free multi-robot path planning. ‵Node caching‵ is proposed to improve efficiency. A decoupled approach with local communication enables the paths of robots to be dynamically changed. (4) A novel ‵multi-robot map update‵ in case of dynamic obstacles in the map is proposed, such that robots update other robots about the positions of dynamic obstacles in the map. A timestamp feature ensures that all the robots have the most updated map. Comparison between SHP and other path smoothing techniques and experimental results in real environments confirm that SHP can generate smooth paths for robots and avoid collision with other robots through local communication.

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

Cited by 107 publications

References 28 publications

A Car-Steering Model Based on an Adaptive Neuro-Fuzzy Controller

A Car-Steering Model Based on an Adaptive Neuro-Fuzzy Controller

G²Continuity Smooth Path Planning using Cubic Polynomial Interpolation with Membership Function

SHP: Smooth Hypocycloidal Paths with Collision-Free and Decoupled Multi-Robot Path Planning

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

Cited by 107 publications

References 28 publications

A Car-Steering Model Based on an Adaptive Neuro-Fuzzy Controller

A Car-Steering Model Based on an Adaptive Neuro-Fuzzy Controller

G2Continuity Smooth Path Planning using Cubic Polynomial Interpolation with Membership Function

SHP: Smooth Hypocycloidal Paths with Collision-Free and Decoupled Multi-Robot Path Planning

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G²Continuity Smooth Path Planning using Cubic Polynomial Interpolation with Membership Function