20.500.12556/RUL-138620 Effective parametrization of low order Bézier motion primitives for continuous-curvature path-planning applications We propose a new parametrization of motion primitives based on Bézier curves that suits perfectly path-planning applications (and environment exploration) of wheeled mobile robots. The individual motion primitives can simply be calculated taking into account the requirements of path planning and the constraints of a vehicle, given in the form of the starting and ending orientations, velocities, turning rates, and curvatures. The proposed parametrization provides a natural geometric interpretation of the curve. The solution of the problem does not require optimization and is obtained by solving a system of simple polynomial equations. The resulting planar path composed of the primitives is guaranteed to be C2 continuous (the curvature is therefore continuous). The proposed primitives feature low order Bézier (third order polynomial) curves. This not only provides the final path with minimal required turns or unwanted oscillations that typically appear when using higher-order polynomial primitives due to Runge’s phenomenon but also makes the approach extremely computationally efficient. When used in path planning optimizers, the proposed primitives enable better convergence and conditionality of the optimization problem due to a low number of required parameters and a low order of the polynomials. The main contribution of the paper therefore lies in the analytic solution for the third-order Bézier motion primitive under given boundary conditions that guarantee continuous curvature of the composed spline path. The proposed approach is illustrated on some typical scenarios of path planning for wheeled mobile robots. path planning motion primitive Bernstein-Bézier curve continuous curvature mobile robots planiranje poti primitivi gibanja Bernstein-Bézier krivulja zvezna ukrivljenost mobilni roboti true false true Angleški jezik Slovenski jezik Članek v reviji 2022-08-03 10:22:35 2022-08-03 10:22:37 2022-09-15 04:16:59 0000-00-00 00:00:00 2022 0 0 Str. 1-20 1709 iss. 11 Jun.-1 2022 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52 2079-9292 10.3390/electronics11111709 112016643 RAZ_Blazic_Saso_2022.pdf RAZ_Blazic_Saso_2022.pdf 1 E066FDE69BD62B651329D43324AF9811 569800855e71d4ef1482852ae89fbee841f4d3142251910ca6b2d2fd0c01d8ee effeb8ec-1305-11ed-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=158994 https://www.mdpi.com/2079-9292/11/11/1709 1 28a8b9d4-1305-11ed-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=158993 Fakulteta za elektrotehniko 0 0 0