G3-splines for the path planning of wheeled mobile robots

@article{Piazzi2003G3splinesFT,
  title={G3-splines for the path planning of wheeled mobile robots},
  author={Aurelio Piazzi and Massimo Romano and Corrado Guarino Lo Bianco},
  journal={2003 European Control Conference (ECC)},
  year={2003},
  pages={1845-1850}
}
This paper deals with generation of smooth paths for the navigation of wheeled mobile robots by means of the iterative steering technique. A new motion planning primitive called G3-spline or η-spline is proposed. It is a seventh order polynomial spline that permits the interpolation of an arbitrary sequence of points with associated arbitrary direction… CONTINUE READING