Main Content

Smooth vehicle path using cubic spline interpolation

`[`

generates a smooth vehicle path, consisting of `poses`

,`directions`

] = smoothPathSpline(`refPoses`

,`refDirections`

,`numSmoothPoses`

)`numSmoothPoses`

discretized poses, by fitting the input reference path poses to a cubic spline. Given the
input reference path directions, `smoothPathSpline`

also returns the
directions that correspond to each pose.

Use this function to convert a C^{1}-continuous vehicle path to
a C^{2}-continuous path. C^{1}-continuous
paths include the `driving.DubinsPathSegment`

or `driving.ReedsSheppPathSegment`

paths that you can plan using a `pathPlannerRRT`

object. For more details on these path types, see C1-Continuous and C2-Continuous Paths.

You can use the returned poses and directions with a vehicle controller, such as the
`lateralControllerStanley`

function.

`[`

specifies a minimum separation threshold between poses. If the distance between two poses is
smaller than `poses`

,`directions`

] = smoothPathSpline(`refPoses`

,`refDirections`

,`numSmoothPoses`

,`minSeparation`

)`minSeparation`

, the function uses only one of the poses for
interpolation.

`[___,`

also returns the cumulative path length and signed path curvature at each returned pose,
using any of the previous syntaxes. Use these values to generate a velocity profile along
the path. `cumLengths`

,`curvatures`

] = smoothPathSpline(___)

To check if a smooth path is collision-free, specify the smooth poses as an input to the

`checkPathValidity`

function.

The path-smoothing algorithm interpolates a parametric cubic spline that passes through all input reference pose points. The parameter of the spline is the cumulative chord length at these points. [1]

The tangent direction of the smoothed output path approximately matches the orientation angle of the vehicle at the starting and goal poses.

[1] Floater,
Michael S. "On the Deviation of a Parametric Cubic Spline Interpolant from Its Data Polygon."
*Computer Aided Geometric Design*. Vol. 25, Number 3, 2008, pp.
148–156.

[2] Lepetic,
Marko, Gregor Klancar, Igor Skrjanc, Drago Matko, and Bostjan Potocnik. "Time Optimal Path
Planning Considering Acceleration Limits." *Robotics and Autonomous
Systems*. Vol. 45, Numbers 3–4, 2003, pp. 199–210.