Title: Fair curves for motion planning

Authors: Guido Brunnett, Jorg Kiefer, Jorg Wendt

Addresses: University of Kaiserslautern, Computer Science, Postfach 3049, D-67653 Kaiserslautern, Germany. ' University of Kaiserslautern, Computer Science, Postfach 3049, D-67653 Kaiserslautern, Germany. ' University of Kaiserslautern, Computer Science, Postfach 3049, D-67653 Kaiserslautern, Germany

Abstract: Two variational models of fair curves in the context of motion planning are discussed. Both models reflect the intention to balance the competing conditions of small length and small curvature values. Characteristic features of the models are derived and algorithms to compute the curves are presented.

Keywords: elastic splines; energy minimisation; motion planning; tool path generation; variational models; fair curves; geometric design; path planning.

DOI: 10.1504/IJVD.1999.005579

International Journal of Vehicle Design, 1999 Vol.21 No.2/3, pp.266 - 277

Published online: 20 Oct 2004 *

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