Title:
SPLINE PATH INTERPOLATION METHOD AND RELEVANT DEVICE
Document Type and Number:
WIPO Patent Application WO/2018/205248
Kind Code:
A1
Abstract:
A spline path interpolation method and a relevant device: constructing a first spline path, a second spline path, and a straight path connected between an end point of the first spline path and a start point of the second spline path (S11); performing speed planning of the first spline path (S12); configuring an interpolation period and an interpolation step-number threshold according to the speed planning, and beginning parameter interpolation from a curve parameter of a start point of the first spline path according to the interpolation period, so as to obtain multiple curve parameters along the first spline path, an end condition of the interpolation being a number of interpolation steps equaling the interpolation step-number threshold or a curve parameter obtained by interpolation being greater than a curve parameter of the end point of the first spline path (S13); configuring a final interpolation point of the first spline path according to a curve parameter obtained by a final interpolation, a curve parameter obtained by an interpolation prior to the final interpolation, the curve parameter of the end point of the first spline path and an acceleration constraint (S14). The present interpolation method has relatively good processing quality, and processing speed and acceleration are smooth.
Inventors:
WANG WEI (CN)
Application Number:
PCT/CN2017/084097
Publication Date:
November 15, 2018
Filing Date:
May 12, 2017
Export Citation:
Assignee:
SHENZHEN A & E INTELLIGENT TECH INST CO LTD (CN)
International Classes:
G05B19/41
Foreign References:
| CN101957611A | 2011-01-26 | |||
| CN104678899A | 2015-06-03 | |||
| CN104678894A | 2015-06-03 | |||
| CN104898577A | 2015-09-09 | |||
| CN101109948A | 2008-01-23 | |||
| US6782306B2 | 2004-08-24 |
Attorney, Agent or Firm:
CHINA WISPRO INTELLECTUAL PROPERTY LLP. (CN)
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