Path approximation for planar motion of a ground vehicle
US8606498B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 15, 2008 |
| Grant date | Dec 10, 2013 |
| Priority date | — |
| Expiry date | Dec 29, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C21/16
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The generation of a planar trajectory for use by a vehicle in guiding its position is described. The trajectory is generated by identifying points representing the trajectory, fairing the identified points to generate a set of faired points, and computing a set of polynomial segments from the faired points. The segments form a curve representing the trajectory, where the curve is C2-smooth, and the curve does not exceed the steering capability of the vehicle. The segments may comprise cubic B-spline segments. If the identified points are not substantially equidistant, then an auxiliary curve approximating the trajectory is generated, and a set of substantially equidistant points on the auxiliary curve is selected as the identified points.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.