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Locally Controllable Attitude B-Spline Function
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AI
DOI：10.1109/ACCESS.2024.3488172.png)
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摘要
En 中文
Continuous attitude spline functions are used in computer animation and in the generation of virtual inertial sensor data. Unlike the B-spline functions in R-3 , it is not easy to locally control attitude the B-spline function in SO(3). In this paper, a modified attitude B-spline function is proposed, where the local control problem (smoothness and distance between the target attitude and spline function) is formulated as a linear quadratic optimization problem. The proposed algorithm is tested with human attitude target data to demonstrate the local controllability of the attitude B-spline functions.
Keyword:
Splines (mathematics)
Attitude control
Angular velocity
Quaternions
Interpolation
Perturbation methods
Indexes
Training data
Symbols
Quadratic programming
Attitude estimation
quadratic optimization
quaternion
spline function
期刊
IF:
3.6
论文数:
9.8W
被引数:
29.4W
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引用论文
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