TY - JFULL
AU - M. Y. Misro and A. Ramli and J. M. Ali
PY - 2015/1/
TI - Approximating Maximum Speed on Road from Curvature Information of Bezier Curve
T2 - International Journal of Mathematical and Computational Sciences
SP - 733
EP - 741
VL - 9
SN - 1307-6892
UR - https://publications.waset.org/pdf/10003165
PU - World Academy of Science, Engineering and Technology
NX - Open Science Index 108, 2015
N2 - Bezier curves have useful properties for path
generation problem, for instance, it can generate the reference
trajectory for vehicles to satisfy the path constraints. Both algorithms
join cubic Bezier curve segment smoothly to generate the path. Some
of the useful properties of Bezier are curvature. In mathematics,
curvature is the amount by which a geometric object deviates from
being flat, or straight in the case of a line. Another extrinsic example
of curvature is a circle, where the curvature is equal to the reciprocal
of its radius at any point on the circle. The smaller the radius, the
higher the curvature thus the vehicle needs to bend sharply. In this
study, we use Bezier curve to fit highway-like curve. We use
different approach to find the best approximation for the curve so that
it will resembles highway-like curve. We compute curvature value by
analytical differentiation of the Bezier Curve. We will then compute
the maximum speed for driving using the curvature information
obtained. Our research works on some assumptions; first, the Bezier
curve estimates the real shape of the curve which can be verified
visually. Even though, fitting process of Bezier curve does not
interpolate exactly on the curve of interest, we believe that the
estimation of speed are acceptable. We verified our result with the
manual calculation of the curvature from the map.
ER -