Enforce C2 continuity and generate 3D Bézier curves

Given 2 sets of control points (possibly representing a 3D path), this code calculates the position of the additional control points used to enforce C2 continuity and plots the 3D Bézier curves defined by them.

The repository includes:

• Main.m: definition of the points, calling the functions and plot of the curve

• points_continuity_derivative_3D.m: calculates the position of the additional control points enforcing C2 continuity

• bezier_curve_3D.m: given a set of control points, it calculates the 3D Bézier curves defined by it

This code was partially used in the paper:

D. Sartori, D. Zou, W. Yu, An efficient approach to near-optimal 3D trajectory design in cluttered environments for multirotor UAVs, 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), Vancouver, August 2019

Available at: https://ieeexplore.ieee.org/abstract/document/8842980/