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简介

本仓是Continuous Path Smoothing for Car-Like Robots Using B-Spline Curves论文的复现，首先在每两个waypoint中添加一个点，使其与waypoint点构成B样条的控制点，然后通过一定的规则对生成新的控制点，具体的可以看Continuous Path Smoothing for Car-Like Robots Using B-Spline Curves，最后利用clamped B样条生成平滑后的路径。

效果：

image

参考：

1、https://github.com/pjbarendrecht/BsplineLab

2、https://www.cs.montana.edu/paxton/classes/aui/dslectures/CoxdeBoor.pdf

3、Elbanhawi, M., et al. (2015). "Continuous Path Smoothing for Car-Like Robots Using B-Spline Curves." Journal of Intelligent & Robotic Systems 80(S1): 23-56.