四次Pythagorean Hodograph速端曲线的构造的综述报告.docxVIP

四次PythagoreanHodograph速端曲线的构造的综述报告

PythagoreanHodographcurves(PHcurves)areafamilyofplanarcurvesthathavebeenwidelystudiedoverthepastfewdecadesduetotheirinterestingandusefulproperties.Inthisreport,wewilldiscusstheconstructionofPHcurvesandfocusonthefourmostwell-knowntypesofPHcurves:theClothoid,EulerSpiral,CornuSpiral,andGeronoLemniscate.

PHcurvesarecurveswhosecurvatureandtorsionarebothproportionaltothearclength.Thispropertymakesthesecurvesidealformanyapplications,includingmotionplanning,robotics,andcomputergraphics.Inaddition,PHcurveshaveseveralotherusefulandinterestingproperties,suchastheirabilitytoconnecttwopointswithasmoothtransitioninbothpositionandorientation.

TheconstructionofPHcurvesinvolvessolvingasystemofdifferentialequations.Thesystemisderivedfromthefundamentaltheoremofalgebrathatstatesthatapolynomialofdegreenhasnroots.InthecaseofPHcurves,thepolynomialinquestionisthethird-degreepolynomialthatdescribesthecurvatureofthecurve.

ThefirsttypeofPHcurvewewilldiscussistheClothoid,alsoknownastheEulerSpiral.Thiscurvehasaconstantrateofchangeofcurvatureandisusedinhighwayengineeringtodesigncurvesthatprovideasmoothtransitionfordrivers.Thecurveisdefinedbythedifferentialequation:

y(s)=k(s)x(s)

wherek(s)isthecurvatureofthecurveatarclengths.Thesolutiontothisequationisgivenby:

x(s)=cos(θ(s))

y(s)=sin(θ(s))

whereθ(s)=1/2∫0^sk(t)dt.

ThesecondtypeofPHcurveistheEulerSpiral.Thiscurvehasaconstantrateofchangeofcurvatureandisusedinroboticsandanimationtocreatesmoothmotions.Thecurveisdefinedbythedifferentialequation:

y(s)+k^2(s)y(s)=0

wherek(s)isthecurvatureofthecurveatarclengths.Thesolutiontothisequationisgivenby:

x(s)=∫0^scos(∫0^tk(τ)dτ)dt

y(s)=∫0^ssin(∫0^tk(τ)dτ)dt

Thethi