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Curvature Continuous Path Generation for UAVs based on Generalized Expo-Rational B-Splines
(Peer reviewed; Book; Chapter, 2018)
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.