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MANEUVER PLANNING WITH HIGHER ORDER RATIONAL BEZIER CURVES
MANEUVER PLANNING WITH HIGHER ORDER RATIONAL BEZIER CURVES
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机译：具有较高阶有理Bezier曲线的机动计划
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摘要
Systems and methods are provided for generating a maneuver on a propagated route for an unmanned vehicle from a series of waypoints. A planner interface is configured to receive the waypoints and at least one parameter representing constraints on the propagated route of the unmanned vehicle. A curve generation component is configured to determine respective positions for each of a set of N+1 control points for a rational Bezier curve of Nth order from the series of waypoints and the parameter. N is an integer greater than three. A weight generation component is configured to determine scalar weights for the set of N+1 control points from the parameter. A navigation interface is configured to provide the maneuver, generated from the positions for the set of control points and the scalar weights, to a control system of the unmanned vehicle, configured to execute the provided maneuver at the unmanned vehicle.
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