| 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 Name | 2014 IEEE International Conference on Robotics and Automation (ICRA 2014) |
| Conference Date | May 31 - June 7, 2014 |
| Conference Place | HongKong, China |
| Source Publication | 2014 IEEE International Conference on Robotics and Automation (ICRA 2014) |
| Publisher | IEEE |
| Publication Place | Piscataway, NJ, USA |
| 2014 | |
| Pages | 6108-6113 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20152000853511 |
| WOS ID | WOS:000377221106022 |
| Contribution Rank | 1 |
| ISBN | 978-1-4799-3685-4 |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/15394 |
| Collection | 机器人学研究室 |
| Corresponding Author | Chen C(陈成) |
| Affiliation | 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 |
| 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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| Quartic Bezier curve（511KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Edit Comment