Automatic guidance for a Vehicle using Spline Curve.
Akira Suzuki, Yue Quan Bao, Naofumi FUJIWARA, Masumi KANO, Tetsuya HIRANO · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1999
In this paper, a new method of Guidance Control System for the Moving Robot is described. As a method of layout Planning to navigate the robot, Trajectory Design using B-spline curve is proposed. It has at continuous curvature, and passes near to the given points on a 2D space by adding appropriate new points. The Velocity Data is calculated from B-spline curve in order to navigate the PWS robot, and authors suggest Servo Mechanism which make robot track the trajectory accurately. The results of simulation and experiment show the effectiveness of this method.