• Curvature Continuous Path Generation for UAVs based on Generalized Expo-Rational B-Splines 

      Andersen, Tom Stian; Bouzidi, Ghada; Kristiansen, Raymond (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.