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Quartic Bezier curve based trajectory generation for autonomous vehicles with curvature and velocity constraints
Chen C(陈成); He YQ(何玉庆); Bu CG(卜春光); Han JD(韩建达); Zhang, Xuebo
作者部门机器人学研究室
会议名称2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
会议日期May 31 - June 7, 2014
会议地点HongKong, China
会议录名称2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码6108-6113
收录类别EI ; CPCI(ISTP)
EI收录号20152000853511
WOS记录号WOS:000377221106022
产权排序1
ISBN号978-1-4799-3685-4
摘要To generate local trajectory between initial states and target states for autonomous vehicles, a feasible trajectory generation algorithm based on quartic Bezier curve is proposed. The problem of trajectory generation is firstly separated into generating continuous and bounded curvature profile to shape the trajectory and generating linear velocity profile to execute the trajectory. The curvature profile generation is further converted to an optimization problem with only 3 parameters owing to the specific properties of quartic Bezier curve. Sequential quadratic programming is employed to find optimal solution with respect to specific objective function. To avoid sideslip and ensure velocity–continuity and acceleration limits, the framework of linear velocity profile generation is also proposed. A simple profile with constant acceleration is also provided as an example. Simulation results on lane keeping and changing and path following demonstrate the capability and the real–time performance of the proposed algorithm.
语种英语
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被引频次:12[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15394
专题机器人学研究室
通讯作者Chen C(陈成)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Institute of Robotics and Automatic, Information System (IRAIS) and Tianjin Key Laboratory of Intelligent, Robotics (TjKLIR), Nankai University, Tianjin, China
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GB/T 7714
Chen C,He YQ,Bu CG,et al. Quartic Bezier curve based trajectory generation for autonomous vehicles with curvature and velocity constraints[C]. Piscataway, NJ, USA:IEEE,2014:6108-6113.
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