G^1 fitting with clothoids

DOI10.1002/MMA.3114MaRDI QIDQ5247882zbMATH OpenOpenAlexFDO

Authors Enrico Bertolazzi, Marco Frego

Publication date 27 April 2015

Published in Mathematical Methods in the Applied Sciences (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1209.0910

zbMATH Keywords

algorithmclothoidFresnel integralsHermite \(G^{1}\) interpolationnumerical example

Mathematics Subject Classification ID

Incomplete beta and gamma functions (error functions, probability integral, Fresnel integrals) (33B20) Numerical approximation and evaluation of special functions (33F05) Numerical interpolation (65D05) Numerical smoothing, curve fitting (65D10) Computation of special functions and constants, construction of tables (65D20)

Abstract: An effective solution to the problem of Hermite $G^1$ interpolation with a clothoid curve is provided. At the beginning the problem is naturally formulated as a system of nonlinear equations with multiple solutions that is generally difficult to solve numerically. All the solutions of this nonlinear system are reduced to the computation of the zeros of a single nonlinear equation. A simple strategy, together with the use of a good and simple guess function, permits to solve the single nonlinear equation with a few iterations of the Newton--Raphson method. The computation of the clothoid curve requires the computation of Fresnel and Fresnel related integrals. Such integrals need asymptotic expansions near critical values to avoid loss of precision. This is necessary when, for example, the solution of interpolation problem is close to a straight line or an arc of circle. Moreover, some special recurrences are deduced for the efficient computation of asymptotic expansion. The reduction of the problem to a single nonlinear function in one variable and the use of asymptotic expansions make the solution algorithm fast and robust.

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Cites work

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Cited in

(10)

• Semi-analytical minimum time solutions with velocity constraints for trajectory following of vehicles
• Point data reconstruction and smoothing using cubic splines and clusterization
• Efficient intersection between splines of clothoids
• Clothoid fitting and geometric Hermite subdivision
• Closed form parametrisation of 3D clothoids by arclength with both linear varying curvature and torsion
• On the \(G^2\) Hermite interpolation problem with clothoids
• Point-Clothoid Distance and Projection Computation
• A note on finding clothoids
• Euler Bézier spirals and Euler B-spline spirals
• Deformation analysis of Cosserat rods using piecewise clothoid approximation

Describes a project that uses

Uses Software

• DLMF

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