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Here I wrote Qubic spline trajectory generation. The following are the result.

Spline that generated enter image description here

Curvature of the spline enter image description here

Yaw angle changes enter image description here

According to Figure 02, there is a sharp change in yaw angle, i.e., between 40 to 45 alone x-axis and the corresponding location of the trajectory is shown in blue in Figure 01.

Question:

Is there a way to overcome such student changes when generating spline?

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  • $\begingroup$ Is it really a sharp change? The so-called sharp change is caused by the angle wrapping - the yaw angle is wrapped between -180, and 180 degrees. Since the trajectory starts moving upwards in the y-axis the yaw angle becomes positive. $\endgroup$
    – kucar
    Apr 25, 2023 at 10:25
  • $\begingroup$ so robot heading angle will rotate quickly $\endgroup$
    – GPrathap
    Apr 25, 2023 at 10:32
  • $\begingroup$ You could use the gsplines library to get minimum jerk/acceleraion/etc splines github.com/rafaelrojasmiliani/gsplines_cpp $\endgroup$ Mar 2 at 17:05

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