Shigefumi Tamura

Curvature continuous path generation for autonomous vehicle using B-spline curves

In this paper we introduce a roadmap algorithm for generating collision-free paths in terms of cubic B-spline curves for unmanned vehicles used in mining operations. The algorithm automatically generates collision-free paths that are curvature continuous with an upper bounded curvature and a small slope discontinuity of curvature at knots, when we are given the locations of the obstacles, the boundary geometry of the working area, positions and directions of the vehicle at the start, loading, and the goal points. Our algorithm also allows us to find a switch back point where the vehicle reverses its direction to enter the loading area. Examples are provided to demonstrate the effectiveness of the proposed algorithms.

Point-tangent/point-normal B-spline curve interpolation by geometric algorithms

We introduce a novel method to interpolate a set of data points as well as unit tangent vectors or unit normal vectors at the data points by means of a B-spline curve interpolation technique using geometric algorithms. The advantages of our algorithm are that it has a compact representation, it does not require the magnitudes of the tangent vectors or normal vectors, and it has C^2 continuity. We compare our method with the conventional curve interpolation methods, namely, the standard point interpolation method, the method introduced by Piegl and Tiller, which interpolates points as well as the first derivatives at every point, and the piecewise cubic Hermite interpolation method. Examples are provided to demonstrate the effectiveness of the proposed algorithms.