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题名: Quartic Bezier curve based trajectory generation for autonomous vehicles with curvature and velocity constraints
作者: 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: 2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 6108-6113
收录类别: EI
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15394
Appears in Collections:机器人学研究室_会议论文

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文件名: Quartic Bezier curve based trajectory generation for autonomous vehicles with curvature and velocity constraints.pdf
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