C2-continuous Path Planning by Combining Bernstein-Bézier Curves

Gregor Klančar, Sašo Blažič, Andrej Zdešar

Abstract

This work proposes fifth order Bernstein-Bézier (BB) curve segments to be used in path planning approaches. The combined path consists of BB spline sections with continuous second derivative in connections which means that the path curvature is continuous and feasible for wheeled robot to drive on. To further minimize the travelling time on this path a velocity profile is optimized by considering acceleration and velocity constraints.

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Paper Citation


in Harvard Style

Klančar G., Blažič S. and Zdešar A. (2017). C2-continuous Path Planning by Combining Bernstein-Bézier Curves . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 254-261. DOI: 10.5220/0006406602540261


in Bibtex Style

@conference{icinco17,
author={Gregor Klančar and Sašo Blažič and Andrej Zdešar},
title={C2-continuous Path Planning by Combining Bernstein-Bézier Curves},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={254-261},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006406602540261},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - C2-continuous Path Planning by Combining Bernstein-Bézier Curves
SN - 978-989-758-264-6
AU - Klančar G.
AU - Blažič S.
AU - Zdešar A.
PY - 2017
SP - 254
EP - 261
DO - 10.5220/0006406602540261