Curvature Continuous Path Generation for UAVs based on Generalized Expo-Rational B-Splines
Tom Stian Andersen, Ghada Bouzidi, Raymond Kristiansen · 2018
This paper proposes a new path-planning algorithm based on GERBS to generate curvature continuous paths. The algorithm blends between a set of local curves generating a global smooth path which also interpolates the midpoint of the curves. Numerical examples are provided which demonstrates the potential of the proposed algorithm.