Real-time clothoid approximation by Rational Bezier curves

  title={Real-time clothoid approximation by Rational Bezier curves},
  author={Nicol{\'a}s Mont{\'e}s and Alvaro Herraez and Leopoldo Armesto and Josep Tornero},
  journal={2008 IEEE International Conference on Robotics and Automation},
This paper presents a novel technique for implementing Clothoidal real-time paths for mobile robots. As first step, rational Bezier curves are obtained as approximation of the Fresnel integrals. By rescaling, rotating and translating the previously computed RBC, an on-line Clothoidal path is obtained. In this process, coefficients, weights and control points are kept invariant. This on-line approach guarantees that an RBC has the same behavior as the original Clothoid using a low curve order… CONTINUE READING
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