Curvature continuous path generation for autonomous vehicle using B-spline curves

Takashi Maekawa*, Tetsuya Noda, Shigefumi Tamura, Tomonori Ozaki, Ken ichiro Machida

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

100 Citations (Scopus)


In this paper we introduce a roadmap algorithm for generating collision-free paths in terms of cubic B-spline curves for unmanned vehicles used in mining operations. The algorithm automatically generates collision-free paths that are curvature continuous with an upper bounded curvature and a small slope discontinuity of curvature at knots, when we are given the locations of the obstacles, the boundary geometry of the working area, positions and directions of the vehicle at the start, loading, and the goal points. Our algorithm also allows us to find a switch back point where the vehicle reverses its direction to enter the loading area. Examples are provided to demonstrate the effectiveness of the proposed algorithms.

Original languageEnglish
Pages (from-to)350-359
Number of pages10
JournalCAD Computer Aided Design
Issue number4
Publication statusPublished - 2010 Apr 1
Externally publishedYes


  • B-spline curves
  • Interpolation
  • Path planning
  • Simulated annealing

ASJC Scopus subject areas

  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design
  • Industrial and Manufacturing Engineering


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