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Quintic G2-splines for the iterative steering of vision-based autonomous vehicles

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5 Author(s)
Piazzi, A. ; Dipt. di Ingegneria dell''Informazione, Parma Univ., Italy ; Guarino Lo Bianco, C. ; Bertozzi, M. ; Fascioli, A.
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This paper presents a new motion planning primitive to be used for the iterative steering of vision-based autonomous vehicles. This primitive is a parameterized quintic spline, denoted as η-spline, that allows interpolating an arbitrary sequence of points with overall second-order geometric (G2-) continuity. Issues such as completeness, minimality, regularity, symmetry, and flexibility of these G2-splines are addressed in the exposition. The development of the new primitive is tightly connected to the inversion control of nonholonomic car-like vehicles. The paper also exposes a supervisory strategy for iterative steering that integrates feedback vision data processing with the feedforward inversion control

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Intelligent Transportation Systems, IEEE Transactions on  (Volume:3 ,  Issue: 1 )