反向插补的NURBS曲线前瞻插补算法

Look-ahead Interpolation Algorithm with Reverse Interpolation for NURBS Curves

为了避免现有NURBS曲线前瞻插补算法在确定自适应减速起始点时不够准确而产生的减速距离大于实际需要距离的问题,防止插补出现低速运行区域,提出一种基于反向插补的减速点确定方法.在该方法中,前瞻算法从减速区域的终止点开始,采用S型加减速规划进行逆向插补,以确立逆向插补曲线与自适应插补曲线的交区间,将交区间的起始点作为自适应减速区间的起始点,并再次进行前瞻插补,得到理想的减速区域速度规划方案.仿真实验结果表明,文中算法有效地避免了插补过程中的低速运行现象,提高了插补效率.

The existing look-ahead algorithm for NURBS curves is not accurate in determining the starting point of adaptive deceleration area, and the deceleration distance produced is longer than the actual need. In order to avoid this problem, and to prevent the interpolation generates low-speed regions, a method based on reverse interpolation area is given to determine the starting point of deceleration area. In this method, the look-ahead algorithm using S-acceleration planning reversely interpolates the curve and establishes the cross-range with velocity curve of adaptive interpolation. Then the curve is re-interpolated from the starting point of the cross-range to obtain the ideal velocity planning scheme of the deceleration zone. Experimental simulation results show that the algorithm proposed in the paper can effectively avoid the phenomenon of low-speed region in the interpolation process, and improve the interpolation efficiency as well.