Path planning with PH G2 splines in R2

International audienceIn 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

Smooth path planning with Pythagorean-hodoghraph spline curves geometric design and motion control

This thesis addresses two significative problems regarding autonomous systems, namely path and trajectory planning. Path planning deals with finding a suitable path from a start to a goal position by exploiting a given representation of the environment. Trajectory planning schemes govern the motion along the path by generating appropriate reference (path) points. We propose a two-step approach for the construction of planar smooth collision-free navigation paths. Obstacle avoidance techniques that rely on classical data structures are initially considered for the identification of piecewise linear paths that do not intersect with the obstacles of a given scenario. In the second step of the scheme we rely on spline interpolation algorithms with tension parameters to provide a smooth planar control strategy. In particular, we consider Pythagorean\u2013hodograph (PH) curves, since they provide an exact computation of fundamental geometric quantities. The vertices of the previously produced piecewise linear paths are interpolated by using a G1 or G2 interpolation scheme with tension based on PH splines. In both cases, a strategy based on the asymptotic analysis of the interpolation scheme is developed in order to get an automatic selection of the tension parameters. To completely describe the motion along the path we present a configurable trajectory planning strategy for the offline definition of time-dependent C2 piece-wise quintic feedrates. When PH spline curves are considered, the corresponding accurate and efficient CNC interpolator algorithms can be exploited

Smooth path planning with Pythagorean-hodoghraph spline curves geometric design and motion control

This thesis addresses two significative problems regarding autonomous systems, namely path and trajectory planning. Path planning deals with finding a suitable path from a start to a goal position by exploiting a given representation of the environment. Trajectory planning schemes govern the motion along the path by generating appropriate reference (path) points. We propose a two-step approach for the construction of planar smooth collision-free navigation paths. Obstacle avoidance techniques that rely on classical data structures are initially considered for the identification of piecewise linear paths that do not intersect with the obstacles of a given scenario. In the second step of the scheme we rely on spline interpolation algorithms with tension parameters to provide a smooth planar control strategy. In particular, we consider Pythagorean–hodograph (PH) curves, since they provide an exact computation of fundamental geometric quantities. The vertices of the previously produced piecewise linear paths are interpolated by using a G1 or G2 interpolation scheme with tension based on PH splines. In both cases, a strategy based on the asymptotic analysis of the interpolation scheme is developed in order to get an automatic selection of the tension parameters. To completely describe the motion along the path we present a configurable trajectory planning strategy for the offline definition of time-dependent C2 piece-wise quintic feedrates. When PH spline curves are considered, the corresponding accurate and efficient CNC interpolator algorithms can be exploited

Arc lengths of rational Pythagorean–hodograph curves

In a recent paper (Lee et al., 2014) a family of rational Pythagorean-hodograph (PH) curves is introduced, characterized by constraints on the coefficients of a truncated Laurent series, and used to solve the first-order Hermite interpolation problem. Contrary to a claim made in this paper, it is shown that these rational PH curves have rational arc length functions only in degenerate cases, where the center of the Laurent series is a real value

A general framework for solving inverse dynamics problems in multi-axis motion control.

An inverse dynamics compensation (IDC) scheme for the execution of curvilinear paths by multi-axis motion controllers is proposed. For a path specified by a parametric curve r(ξ), the IDC scheme computes a real-time path correction Δr(ξ) that (theoretically) eliminates path deviations incurred by the inertia and damping of the machine axes. To exploit the linear time-invariant nature of the dynamic equations, the correction term is computed as a function of elapsed time t, and the corresponding curve parameter values ξ are only determined as the final step of the IDC scheme, through a real-time interpolator algorithm. It is shown that, in general, the correction term for P, PI, and PID controllers consists of derivative, natural, and integral terms (the integrand of the latter involving only the path r(ξ), and not its derivatives). The use of lead segments to minimize transient effects associated with the initial conditions is also discussed, and the performance of the method is illustrated by simulation results. The IDC scheme is expressed in terms of a linear differential operator formalism to provide a clear, general, and systematic development, amenable to further adaptations and extensions

Optimization of Corner Blending Curves

The blending or filleting of sharp corners is a common requirement in geometric design applications — motivated by aesthetic, ergonomic, kinematic, or mechanical stress considerations. Corner blending curves are usually required to exhibit a specified order of geometric continuity with the segments they connect, and to satisfy specific constraints on their curvature profiles and the extremum deviation from the original corner. The free parameters of polynomial corner curves of degree ≤6 and continuity up to G3 are exploited to solve a convex optimization problem, that minimizes a weighted sum of dimensionless measures of the mid-point curvature, maximum deviation, and the uniformity of parametric speed. It is found that large mid-point curvature weights result in undesirable bimodal curvature profiles, but emphasizing the parametric speed uniformity typically yields good corner shapes (since the curvature is strongly dependent upon parametric speed variation). A constrained optimization problem, wherein a particular value of the corner curve deviation is specified, is also addressed. Finally, the shape of Pythagorean-hodograph corner curves is compared with that of the optimized “ordinary” polynomial corner curves

Rational swept surface constructions based on differential and integral sweep curve properties

A swept surface is generated from a profile curve and a sweep curve by employing the latter to define a continuous family of transformations of the former. By using polynomial or rational curves, and specifying the homogeneous coordinates of the swept surface as bilinear forms in the profile and sweep curve homogeneous coordinates, the outcome is guaranteed to be a rational surface compatible with the prevailing data types of CAD systems. However, this approach does not accommodate many geometrically intuitive sweep operations based on differential or integral properties of the sweep curve - such as the parametric speed, tangent, normal, curvature, arc length, and offset curves - since they do not ordinarily have a rational dependence on the curve parameter. The use of Pythagorean-hodograph (PH) sweep curves surmounts this limitation, and thus makes possible a much richer spectrum of rational swept surface types. A number of representative examples are used to illustrate the diversity of these novel swept surface forms - including the oriented-translation sweep, offset-translation sweep, generalized conical sweep, and oriented-involute sweep. In many cases of practical interest, these forms also have rational offset surfaces. Considerations related to the automated CNC machining of these surfaces, using only their high-level procedural definitions, are also briefly discussed