Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 51st Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 6T1-3
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Host: The Institute of Systems, Control and Information Engineers

Optimal Smoothing Splines with Constraints
*Hiroyuki Fujioka, Hiroyuki Kano
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Keywords: Smoothing spline, Constrained spline, B-spline, Path planning
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Abstract
We present a method for designing optimal smoothing splines with equality and/or inequality constraints. The method has a wide variety of applications such as path or trajectory planning problems. The splines are constructed by using normalized uniform B-splines as the basis functions, enabling us to obtain the numerical solution relatively easily. We examine the performance by numerical examples.
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© 2007 The Institute of Systems, Control and Information Engineers
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