| 摘要 |
PURPOSE:To obtain an extremely smooth and little wavy interpolation curve by selecting clothoid curves, connecting some of these and making a tangent direction and a curvature on the connecting points continuous. CONSTITUTION:When the coordinates of two points P1 and P2, and a curvature Cv1 and a tangent direction phi1 of the P1 pint are given, one or two clothoid curves to pass these two pints can be drawn. When the position of the P2 point is reasonable, one, and when it is an unreachable position, two clothoid curves are connected as the continuity of a CV and a phi. Even at the time of more than three point, when a point spring itself is smooth, they can be connected by one clothed. Thus, for example, when an illustrated point string 1-12 is given, these points can be connected. On a figure to show the broken-line of the CV to obtain a first approximate value, one straight line is equivalent to one clothoid. The first approximate value of the CV makes the curvature of a circle passing three points including the front and the rear points into the curvature of the point. A circular interpolation is executed to one part between points 5 and 6 and a straight-line interpolation is executed to one part between points 11 and 12. |
