随机型值点间的插值轨迹规划研究

Research on the Trajectory Planning of Random Data Points

运动轨迹仿真实验中,常需要根据随机选定的型值点插值出适合实验要求的运动轨迹。首先,经过几种常见插值方法的对比分析,选定了分段三次Bezier曲线作为轨迹规划的插值曲线,然后,通过分析曲线所须满足的条件,提出了获取此插值曲线控制点的具体算法。最后,介绍了在VC平台下如何实现即时显示已选型值点的插值曲线轨迹,并给出了程序的结果展示。

In trajectory simulation experiments, the traj ectory planning based on a series of ran-domly selected data points meeting the experimen-tal requirements is often necessary.Firstly,after the comparative analysis of several common inter-polation methods,the piecewise cubic Bezier curve has been chosen as the interpolation curve of the trajectory planning.Then by analyzing the require-ments that the curve must meet,an algorithm of getting the curve’s control points is proposed.Fi-nally,this article introduces the method to real timely display a traj ectory planned with the data points that have been selected on the platform of VC.At last,the result of the program is presented, which proves that the algorithm is reasonable.