Speed limit quasi splines and their application to interpolation with bounded first order derivative |
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| Authors: | Yoni Levi Irad Yavneh |
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| Affiliation: | 1. Department of Electrical Engineering, Technion – Israel Institute of Technology, Haifa, Israel;2. Department of Computer Science, Technion – Israel Institute of Technology, Haifa, Israel |
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| Abstract: | The problem of computing spline‐like functions for ideal data, subject to two‐sided inequality constraints on the first‐order derivative, are considered, focusing primarily on constant constraints and then generalizing. Using a variational approach, in which the inequality constraints are not explicitly imposed, a special type of exponential splines we call speed limit quasi splines is introduced. A simple, non‐parametric, efficient, and robust iterative solver is suggested, which is suitable for a wide range of inequality constraints. Analysis of the convergence factor of this algorithm is provided and supported by extensive numerical tests. Copyright © 2014 John Wiley & Sons, Ltd. |
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| Keywords: | interpolation velocity planning bounded derivative |
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