基于勾股速端曲线的空间运动规划
Spatial motion planning with Pythagorean Hodograph curves
摘要：
本文提出了一个两阶段的预测为基础的控制方案嵌入到一个无碰撞的毕达哥拉斯速端曲线样条环境的几何属性，并随后找到最佳路径内的参数化的自由空间。这种方法的成分是双重的：首先，我们提出了一种新的空间路径参数化适用于任何任意曲线，而无需事先假设在其适应框架。其次，我们确定适当的毕达哥拉斯速端曲线的紧凑和连续的定义所需的空间模型的路径参数函数。该双阶段公式化导致运动规划方法，其中环境的几何属性作为预测模型的状态出现。因此，所提出的方法是有吸引力的运动规划在密集的环境。根据一个说明性的例子，该方法的有效性进行评估。
英文摘要：
This paper presents a two-stage prediction-based control scheme for embedding the environment's geometric properties into a collision-free Pythagorean Hodograph spline, and subsequently finding the optimal path within the parameterized free space. The ingredients of this approach are twofold: First, we present a novel spatial path parameterization applicable to any arbitrary curve without prior assumptions in its adapted frame. Second, we identify the appropriateness of Pythagorean Hodograph curves for a compact and continuous definition of the path-parametric functions required by the presented spatial model. This dual-stage formulation results in a motion planning approach, where the geometric properties of the environment arise as states of the prediction model. Thus, the presented method is attractive for motion planning in dense environments. The efficacy of the approach is evaluated according to an illustrative example.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
