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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/10277/759

Autori: Mugnaini, Duccio
Tutor interno: DONATELLI, MARCO
Tutor non afferente all'Università: SESTINI, ALESSANDRA
Titolo: Smooth path planning with Pythagorean-hodoghraph spline curves geometric design and motion control
Abstract: This thesis addresses two significative problems regarding autonomous systems, namely path and trajectory planning. Path planning deals with finding a suitable path from a start to a goal position by exploiting a given representation of the environment. Trajectory planning schemes govern the motion along the path by generating appropriate reference (path) points. We propose a two-step approach for the construction of planar smooth collision-free navigation paths. Obstacle avoidance techniques that rely on classical data structures are initially considered for the identification of piecewise linear paths that do not intersect with the obstacles of a given scenario. In the second step of the scheme we rely on spline interpolation algorithms with tension parameters to provide a smooth planar control strategy. In particular, we consider Pythagorean–hodograph (PH) curves, since they provide an exact computation of fundamental geometric quantities. The vertices of the previously produced piecewise linear paths are interpolated by using a G1 or G2 interpolation scheme with tension based on PH splines. In both cases, a strategy based on the asymptotic analysis of the interpolation scheme is developed in order to get an automatic selection of the tension parameters. To completely describe the motion along the path we present a configurable trajectory planning strategy for the offline definition of time-dependent C2 piece-wise quintic feedrates. When PH spline curves are considered, the corresponding accurate and efficient CNC interpolator algorithms can be exploited.
Parole chiave: Path planning, unmanned vehicles, autonomous vehicles, obstacle avoidance, safe separation, simultaneous arrivals, curvature extrema, Pythagorean-hodograph curves, path finding, tension parametrics, trajectory planning, kinematic constraints, CNC interpolators
Data: 2017
Lingua: eng
Corso di dottorato: Informatica e matematica del calcolo
Ciclo di dottorato: 30
Università di conseguimento titolo: Università degli Studi dell'Insubria
Citazione: Mugnaini, D.Smooth path planning with Pythagorean-hodoghraph spline curves geometric design and motion control (Doctoral Thesis, Università degli Studi dell'Insubria, 2017).

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