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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">  <html xmlns="http://www.w3.org/1999/xhtml"><head><meta http-equiv="Content-Type" content="text/html; charset=UTF-8"> <link rel="icon" type="image/ico" href="https://it-in-industry.com/index_files/icon.gif"/> <title>Development of a B-Spline-based Path Planner for Semi-Autonomous Field Guidance | Fleischmann | INFORMATION TECHNOLOGY IN INDUSTRY</title> <meta name="description" content="Development of a B-Spline-based Path Planner for Semi-Autonomous Field Guidance"> <meta name="keywords" content="B-splines, agricultural guidance, lateral control, Path planning, trajectory planning"> <link rel="schema.DC" href="http://purl.org/dc/elements/1.1/"> <meta name="DC.Contributor.Sponsor" xml:lang="en" content=""> <meta name="DC.Creator.PersonalName" content="Patrick Fleischmann"> <meta name="DC.Creator.PersonalName" content="Tobias F枚hst"> <meta name="DC.Creator.PersonalName" content="Karsten Berns"> <meta name="DC.Date.created" scheme="ISO8601" content="2013-10-16"> <meta name="DC.Date.dateSubmitted" scheme="ISO8601" content="2013-10-16"> <meta name="DC.Date.issued" scheme="ISO8601" content="2013-10-16"> <meta name="DC.Date.modified" scheme="ISO8601" content="2013-10-16"> <meta name="DC.Description" xml:lang="en" content="This paper presents a B-spline based path planning approach for agricultural guidance applications which is able to handle successively generated trajectories. Additionally, the lateral controller which was used to calculate the steering angle is described and the method by which the required parameters were determined is introduced. We explain stepwise how the output of a perception system is used to determine the control points for the planner and why B-splines and B茅zier curves are used to model the trajectory. Moreover, it is shown how the inputs for the path tracker are derived from the B-splines. The approach was implemented on two different farm machines where the performance of the planning and control approach were evaluated. Furthermore, both algorithms were used to build a windrow guidance demonstrator."> <meta name="DC.Format" scheme="IMT" content="application/pdf"> <meta name="DC.Identifier.pageNumber" content="13-19"> <meta name="DC.Identifier.URI" content="http://it-in-industry.com/issue/archive/18.html"> <meta name="DC.Language" scheme="ISO639-1" content="en"> <meta name="DC.Rights" content=" Authors who publish with this journal agree to the following terms: Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access ). "> <meta name="DC.Source" content="INFORMATION TECHNOLOGY IN INDUSTRY"> <meta name="DC.Source.ISSN" content="2203-1731"> <meta name="DC.Source.Issue" content="1"> <meta name="DC.Source.URI" content="http://www.it-in-industry.com"> <meta name="DC.Source.Volume" content="1"> <meta name="DC.Subject" xml:lang="en" content="B-splines"> <meta name="DC.Subject" xml:lang="en" content="agricultural guidance"> <meta name="DC.Subject" xml:lang="en" content="lateral control"> <meta name="DC.Subject" xml:lang="en" content="Path planning"> <meta name="DC.Subject" xml:lang="en" content=" trajectory planning"> <meta name="DC.Title" content="Development of a B-Spline-based Path Planner for Semi-Autonomous Field Guidance"> <meta name="DC.Type" content="Text.Serial.Journal"> <meta name="DC.Type.articleType" content="Peer-Reviewed Articles"> <meta name="gs_meta_revision" content="1.1"> <meta name="citation_journal_title" content="INFORMATION TECHNOLOGY IN INDUSTRY"> <meta name="citation_issn" content="2203-1731"> <meta name="citation_author" content="Patrick Fleischmann"> <meta name="citation_author_institution" content="Robotics Research Lab, Department of Computer Science University of Kaiserslautern"> <meta name="citation_author" content="Tobias F枚hst"> <meta name="citation_author_institution" content="Robotics Research Lab, Department of Computer Science University of Kaiserslautern"> <meta name="citation_author" content="Karsten Berns"> <meta name="citation_author_institution" content="Robotics Research Lab, Department of Computer Science University of Kaiserslautern"> <meta name="citation_title" content="Development of a B-Spline-based Path Planner for Semi-Autonomous Field Guidance"> <meta name="citation_date" content="2013/10/16"> <meta name="citation_volume" content="1"> <meta name="citation_issue" content="1"> <meta name="citation_firstpage" content="13-19"> <meta name="citation_abstract_html_url" content="http://it-in-industry.com/issue/archive/18.html"> <meta 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