Path planning with PH G2 splines in R2

Laurent Gajny 1 Richard Béarée 1 Eric Nyiri 1 Olivier Gibaru 1, 2
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : In this article, we justify the use of parametric planar Pythagorean Hodograph spline curves in path planning. The elegant properties of such splines enable us to design an efficient interpolator algorithm, more precise than the classical Taylor interpolators and faster than an interpolator based on arc length computations.
Mots-clés : splines PH
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Laurent Gajny, Richard Béarée, Eric Nyiri, Olivier Gibaru. Path planning with PH G2 splines in R2. IEEE 1st International Conference on Systems and Computer Science, Aug 2012, Lille, France. ⟨hal-00777447⟩

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