Constant Speed Interpolating Paths

Abstract

Constant speed paths have been used as interpolating functions for highway and railway design, motion planning for robots, and path planning for military aircraft. A simple algorithm is developed in this note to compute a two-dimensional path that interpolates between ordered data points, consisting of Cornu-spiral, straight-line and circular sub-paths. The interpolation algorithm determines the sub-path parameters such that the interpolating path has constant speed, continuous heading and bounded curvature, while endeavouring to sequentially minimise the sub-path arc lengths. The most significant factor to influence the performance of the interpolation algorithm is the number of data points that require the interpolating path to execute a hard turn. If no hard turns are required, then the interpolation algorithm quickly returns an interpolating path with minimal arc length (in a heuristic sense). However, hard turns can substantially increase both the CPU time of the algorithm and arc length of the path.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2011
Accession Number
ADA541117

Entities

People

  • Jason R. Looker

Organizations

  • Defence Science and Technology Group

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Aircrafts
  • Algorithms
  • Australia
  • Curvature
  • Fresnel Integrals
  • Geometry
  • Integrals
  • Interpolation
  • Mathematics
  • Military Aircraft
  • Motion Planning
  • Operating Systems
  • Polynomials
  • Robots
  • Two Dimensional
  • Unmanned Aerial Vehicles
  • Vehicles

Readers

  • Applied Combinatorial Optimization and Logic Circuit Design.
  • Approximation Theory.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy