中文摘要：

为解决无人车导航路径关键点插值问题,利用Catmull-Rom样条插值方法对关键点插值算法进行研究。在分析Catmull-Rom样条插值算法原理的基础上进行编程,并综合考虑比较B样条插值和三次样条插值方法的优缺点,提出利用Catmull-Rom样条插值方法对关键点进行插值。经验证,该插值方法使插值曲线经过关键点,且插值算法不受坐标分布的影响,并对提供的点坐标的排列没有严格要求,能够满足无人车路径选择的需要。

英文摘要：

To solve the problem of interpolation in key points of unmanned vehicle navigation path, the paper studies interpolation algorithm of key points with Catmull-Rom spline interpolation method. After analyzing the algorithm principle of Catmull-Rom spline interpolation, it programs and compares the advantages and disadvantages between B-spline interpolation and cubic spline interpolation method, and puts forward the method of interpolating key points with Catmull-Rom spline interpolation method. The test shows that this interpolation method makes interpolation curve going through key points and the interpolation algorithm will not be affected by coordinate distribution, and the arrangement of point coordinates is not strictly required.