Curvature Continuous Path Generation for UAVs based on Generalized Expo-Rational B-Splines
This paper proposes a new path-planning algorithm based on GERBS to generate curvature continuous paths. The algorithm blends between a set of local curves generating a global smooth path which also interpolates the midpoint of the curves. Numerical examples are provided which demonstrates the potential of the proposed algorithm.
Accepted manuscript version. Published version available at https://doi.org/10.1109/ICUAS.2018.8453415