C2-continuous Path Planning by Combining Bernstein-Bézier Curves

Gregor Klančar; Sašo Blažič; Andrej Zdešar

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Paper

C2-continuous Path Planning by Combining Bernstein-Bézier Curves

Topics: Guidance, Navigation and Control; Mobile Robots and Autonomous Systems

In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 254-261, 2017 , Madrid, Spain

Authors: Gregor Klančar ; Sašo Blažič and Andrej Zdešar

Affiliation: University of Ljubljana, Slovenia

Keyword(s): Path Planing, Bernstein-Bézier (BB) Curve, Splines, Optimal Velocity Profile, Wheeled Mobile Robot.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This work proposes fifth order Bernstein-Bézier (BB) curve segments to be used in path planning approaches. The combined path consists of BB spline sections with continuous second derivative in connections which means that the path curvature is continuous and feasible for wheeled robot to drive on. To further minimize the travelling time on this path a velocity profile is optimized by considering acceleration and velocity constraints.

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Paper citation in several formats:

Klančar, G.; Blažič, S. and Zdešar, A. (2017). C2-continuous Path Planning by Combining Bernstein-Bézier Curves. In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-264-6; ISSN 2184-2809, SciTePress, pages 254-261. DOI: 10.5220/0006406602540261

@conference{icinco17,
author={Gregor Klančar. and Sašo Blažič. and Andrej Zdešar.},
title={C2-continuous Path Planning by Combining Bernstein-Bézier Curves},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2017},
pages={254-261},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006406602540261},
isbn={978-989-758-264-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - C2-continuous Path Planning by Combining Bernstein-Bézier Curves
SN - 978-989-758-264-6
IS - 2184-2809
AU - Klančar, G.
AU - Blažič, S.
AU - Zdešar, A.
PY - 2017
SP - 254
EP - 261
DO - 10.5220/0006406602540261
PB - SciTePress