ScienceDirect® Home Skip Main Navigation Links
You have guest access to ScienceDirect. Find out more.
 
Home
Browse
My Settings
Alerts
Help
 Quick Search
 Search tips (Opens new window)
    Clear all fields    
advertisementadvertisement
Computers & Graphics
Volume 29, Issue 3, June 2005, Pages 353-363
 
Font Size: Decrease Font Size  Increase Font Size
 Abstract - selected
Article
Purchase PDF (345 K)

 
 
 
Related Articles in ScienceDirect
View More Related Articles
 
View Record in Scopus
 
doi:10.1016/j.cag.2005.03.008    How to Cite or Link Using DOI (Opens New Window)
Copyright © 2005 Elsevier Ltd All rights reserved.

Technical section

A controlled clothoid spline

D.J. Waltona, Corresponding Author Contact Information, E-mail The Corresponding Author and D.S. Meekb

aDepartment of Computer Science and St. Paul's College, University of Manitoba, 70 Dysart Road, Winnipeg, Man., Canada R3T 2M6 bDepartment of Computer Science, University of Manitoba, Winnipeg, Man., Canada R3T 2N2

Available online 19 April 2005.

Purchase the full-text article



References and further reading may be available for this article. To view references and further reading you must purchase this article.

Abstract

A clothoid has the property that its curvature varies linearly with arclength. This is a useful feature for the path of a vehicle whose turning radius is controlled as a linear function of the distance travelled. Highways, railways and the paths of car-like robots may be composed of straight line segments, clothoid segments and circular arcs. Control polylines are used in computer aided design and computer aided geometric design applications to guide composite curves during the design phase. This article examines the use of a control polyline to guide a curve composed of segments of clothoids, straight lines, and circular arcs.

Keywords: Clothoid; Spline; Control polyline

Article Outline

1. Introduction
2. Notation and conventions
3. Background
3.1. Clothoid
3.2. Control polyline
4. Blending with a clothoid pair
4.1. Symmetric blending
4.2. Unsymmetric blending
5. Circular arc insertion
5.1. Symmetric circular arc insertion
5.2. Unsymmetric circular arc insertion
6. Examples
7. Conclusion
Acknowledgements
References
Vitae














Computers & Graphics
Volume 29, Issue 3, June 2005, Pages 353-363
 
Home
Browse
My Settings
Alerts
Help
Elsevier.com (Opens new window)
About ScienceDirect  |  Contact Us  |  Information for Advertisers  |  Terms & Conditions  |  Privacy Policy
Copyright © 2008 Elsevier B.V. All rights reserved. ScienceDirect® is a registered trademark of Elsevier B.V.