Constrained Smoothing Splines with Applications to Trajectory Planning

H. Kano and H. Fujioka (Japan)


B-spline, smoothing spline, equality/inequality constraint, quadratic programming, trajectory planning, simulation.


We consider a problem of designing constrained optimal smoothing spline curves using B-splines as the basis func tions. The constraints are of types equality and inequality speciļ¬ed either at isolated points or over knot point inter vals. We construct the spline curves by solving quadratic programming problems and obtain the numerical solution effectively. Two types of trajectory planning problems are considered and solved successfully by imposing all types of constraints.

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