I'm trying to create a trajectory between two given poses for an Ackerman drive. The poses are defined as follows:
Current Pose
- position $(x_0, y_0)$
- rotation on z-axis $\theta_0$
Final Pose
- position $(x_f, y_f)$
- rotation on z-axis $\theta_f$
The trajectory has to be 2 times differentiable with minimum curvature and needs a smooth transition to it's predecessor trajectory (the steering change between two trajectories can't be instant).
I always stumble upon parts of the solution but am struggling to put everything together. Some people suggest using bezier curves or cubic polynomials but I couldn't find a concrete example (something like: given current pose $[(0,0),0]$ and final pose $[(1,1),\frac{\pi}{2}]$ you can calculate the trajectory like this ...).
So my questions are:
- Is that paper actually solving my problem?
- Are there any useful tutorials/implementations/examples out there that are a bit more explanatory?
link
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