Journal of Systems Engineering and Electronics ›› 2011, Vol. 33 ›› Issue (7): 1539-1543.doi: 10.3969/j.issn.1001-506X.2011.07.20

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G2 path smoothing using nonuniform B-spline

WANG Zhen-hua1, ZHANG Wei-guo2, LI Guang-wen2, MU Xu2   

  1. 1. Beijing Institute of Control and Electronic Technology, Beijing 100038, China;
    2. College of Automation, Northwestern Polytechnical University, Xi’an 710072, China
  • Online:2011-07-19 Published:2010-01-03

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Abstract:

B-spline is used to smooth the paths which is composed of line segments, and the way of choosing nodes and control points of the spline is given. The smoothed path is of continuous curvature and meets the need of minimum turn radius of unmanned air vehicles (UAVs). Compared with the Bezier method, the prepare distance for turning is shortened to 93.75% of original quantity. The simulation results show that Bspline is more suitable for circumstances with dense obstacles.

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