GDL

Journal from gdlhub / 2017-08-15 13:53:27
Oleh : Zulfiqar Habib , Ghulam Rasool , Manabu Sakai, King Saud University
Dibuat : 2015-04-15, dengan 1 file

Keyword : Motion planning; Pythagorean hodograph (PH); Quintic polynomial; G 2 Hermite; Monotone; Curvature
Url : http://www.sciencedirect.com/science/article/pii/S1319157815000129
Sumber pengambilan dokumen : web

In this paper we derive admissible curvature continuous areas for monotonically increas-

ing curvature continuous smooth curve by using a single Pythagorean hodograph (PH) quintic

polynomial of

G

2

contact matching Hermite end conditions. Curves with monotonically increasing

or decreasing curvatures are considered highly smooth (fair) and are very useful in geometric design.

Making the design by using smooth curves is a fascinating problem of computing with significant

physical and esthetic applications especially in high speed transportation and robotics. First we

derive sufficient conditions for curvature continuity on a single PH quintic polynomial with given

Hermite end conditions then we find the admissible area for the smooth curve with respect to the

curvatures at its endpoints.

ª

2015 The Authors. Production and hosting by Elsevier B.V. on behalf of King Saud University. This is

an open access article under the CC BY-NC-ND license (

http://creativecommons.org/licenses/by-nc-nd/4.0/

).

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