| 摘要 | 第1-5页 |
| ABSTRACT | 第5-6页 |
| ACKNOWLEDGEMENTS | 第6-9页 |
| 1 INTRODUCTION | 第9-15页 |
| ·Introduction of curve interpolator | 第9-10页 |
| ·Literature review | 第10-13页 |
| ·Organization of the dissertation | 第13-15页 |
| 2 BASIC KNOWLEDGE FOR MIXED-PATH INTERPOLATOR | 第15-25页 |
| ·The NURBS curve | 第15-21页 |
| ·Representation of NURBS curve | 第15-16页 |
| ·NURBS curve’s interpolation | 第16-17页 |
| ·NURBS curve splitting | 第17-21页 |
| ·The continuous line segments | 第21-23页 |
| ·Chapter summary | 第23-25页 |
| 3 A REAL-TIME INTERPOLATOR FOR CONTINUOUS NURBS CURVE | 第25-39页 |
| ·The basic idea for a real-time NURBS curve interpolator | 第25-26页 |
| ·The curve preprocessing and velocity planning module | 第26-31页 |
| ·Curve splitting length | 第26-27页 |
| ·The velocity planning of a single NURBS curve | 第27-30页 |
| ·The second modification of velocity curve | 第30-31页 |
| ·computation of interpolation points on NURBS curve | 第31-33页 |
| ·Simulation results of real-time NURBS curve interpolator | 第33-38页 |
| ·Chapter summary | 第38-39页 |
| 4 THE REAL-TIME INTERPOLATOR FOR MIXED-PATH | 第39-51页 |
| ·The flow chart of mixed-path interpolator | 第39-40页 |
| ·The preprocessing for mixed-path | 第40-46页 |
| ·Discontinuous points on NURBS curve | 第40-42页 |
| ·Curve splitting for special NURBS curve | 第42-45页 |
| ·Write NURBS curve as continuous line segments | 第45-46页 |
| ·The velocity planning for mixed-path | 第46-49页 |
| ·The velocity planning for continuous line segments | 第46-47页 |
| ·The velocity planning and velocity modification of the mixed-path | 第47-49页 |
| ·Chapter summary | 第49-51页 |
| 5 PERFORMANCE ANALYSIS AND EVALUATION | 第51-64页 |
| ·The simulation results | 第51-58页 |
| ·The simulation results for a discontinuous NURBS curve | 第51-53页 |
| ·The simulation results for a two-dimensional mixed-path | 第53-56页 |
| ·The simulation results for a three-dimensional mixed-path | 第56-58页 |
| ·Experiment results | 第58-61页 |
| ·Performance analysis | 第61-63页 |
| ·Chapter summary | 第63-64页 |
| CONCLUSIONS | 第64-66页 |
| REFERENCES | 第66-69页 |
