Approximation to clothoid in same length via G1 quintic Pythogrean Hodograph splines(用G1 5次PH曲线等弧长逼近clothoid曲线)
PH曲线是弧长为多项式的Bézier曲线，其等距线可用有理多项式表示.由clothoid曲线端点的G1 Hermite插值条件，构造对应等弧长的最佳G1 5次PH插值曲线，以此作为逼近.利用微分几何中的Frenet-Serret公式和经典的Taylor展开式，推导该逼近方式的误差、等距线误差和曲率误差.最后，给出在误差范围内，将clothoid曲线转化为等弧长G1 5次PH样条及等距线生成的算法....
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| Format: | Article |
| Language: | zho |
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Zhejiang University Press
2012-01-01
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| Series: | Zhejiang Daxue xuebao. Lixue ban |
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| Online Access: | https://doi.org/10.3785/j.issn.1008-9497.2012.01.006 |