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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
Department机器人学研究室
Conference Name2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
Conference DateMay 31 - June 7, 2014
Conference PlaceHongKong, China
Source Publication2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages6108-6113
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152000853511
WOS IDWOS:000377221106022
Contribution Rank1
ISBN978-1-4799-3685-4
AbstractTo 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.
Language英语
Citation statistics
Cited Times:15[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15394
Collection机器人学研究室
Corresponding AuthorChen C(陈成)
Affiliation1.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
Recommended Citation
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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