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Generic Equations for Constructing Smooth Paths Along Circles and Tangent Lines With Application to Airport Ground Paths
| 题名： | Generic Equations for Constructing Smooth Paths Along Circles and Tangent Lines With Application to Airport Ground Paths |
| 作者： | Barker, L. Keith |
| 关键词： | application；paths；circle；long；alon；lines；gener；round；struc；mathematics |
| 摘要： | The primary purpose of this publication is to develop a mathematical model to describe smooth paths along any combination of circles and tangent lines. Two consecutive circles in a path are either tangent (externally or internally) or they appear on the same (lateral) or opposite (transverse) sides of a connecting tangent line. A path may start or end on either a segment or circle. The approach is to use mathematics common to robotics to design the path as a multilink manipulator. This approach allows a hierarchical view of the problem and keeps the notation manageable. A user simply specifies a few parameters to configure a path. Necessary and sufficient conditions automatically ensure the consistency of the inputs for a smooth path. Two example runway exit paths are given, and an angle to go assists in knowing when to switch from one path element to the next. |
| 报告类型： | 科技报告 |
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