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首页> 外文期刊>IEEE transactions on automation science and engineering >Path Generation Using ${mbi eta}^4$-Splines for a Truck and Trailer Vehicle
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Path Generation Using ${mbi eta}^4$-Splines for a Truck and Trailer Vehicle

机译：使用$ {mbi eta} ^ 4 $-样条生成卡车和拖车的路径

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摘要

Generation of high-quality drive paths is a significant issue for automated wheeled vehicles. To achieve this aim for a truck and trailer vehicle, the paper proposes the use of a parameterized curve primitive, the ${mbi eta}^4$-spline. Using this spline, generation and shaping of smooth feasible paths is made possible as well as the transfer between arbitrary dynamic configurations of the articulated vehicle. The ${mbi eta}^4$ -spline is a ninth-order polynomial curve that can interpolate given Cartesian points with associated arbitrary unit tangent vector, curvature, and first and second derivatives of curvature. It depends on a set of eight (eta) parameters that can be freely chosen to modify the path shape without changing the interpolations conditions at the path endpoints. Completeness, minimality, and symmetry of the ${mbi eta}^4$-spline are established. An example on a parking maneuver of the articulated vehicle is presented and the pertinent optimal path planning is also discussed.
机译：对于自动轮式车辆而言，高质量驱动路径的产生是一个重要的问题。为了实现卡车和拖车的这一目标，本文提出了使用参数化曲线原语$ {mbi eta} ^ 4 $-样条曲线。使用该样条，可以生成和成形平滑的可行路径，以及在铰接式车辆的任意动态配置之间进行传递。 $ {mbi eta} ^ 4 $-样条曲线是九阶多项式曲线，可以对给定的笛卡尔点进行插值，并带有相关的任意单位切向量，曲率以及曲率的一阶和二阶导数。它取决于一组八个（eta）参数，这些参数可以自由选择以修改路径形状，而无需更改路径端点处的插值条件。建立了$ {mbi eta} ^ 4 $样条的完整性，最小性和对称性。以铰接式车辆的停车操作为例，并讨论了相关的最佳路径规划。

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