Continuous curvature path generation based on β-spline curves for parking manoeuvres.
Fernando Gómez-BravoFederico CuestaAníbal OlleroAntidio ViguriaPublished in: Robotics Auton. Syst. (2008)
Keyphrases
- cubic spline
- b spline
- digital curves
- planar curves
- space curves
- control points
- curve fitting
- endpoints
- closed curves
- differential geometry
- arc length
- geodesic paths
- least squares
- arbitrary topology
- critical points
- multiresolution
- shortest path
- continuous domains
- tensor product
- generation process
- curvature estimation
- optimal path
- smooth curves
- multiscale
- curvature flow
- discrete space
- gaussian curvature
- parametric curves
- curve segments