Trajectory generation for mobile robots
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M. Tounsi; J.F. Le Corre
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Article
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1996
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Elsevier Science
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English
β 645 KB
In this paper, first we present different curves used in path generation. We show the advantages and drawbacks of each curve. Next, we propose a method of calculation of a complex smooth path. This smooth path minimizes the integral-square-jerk. Finally, we introduce a variable velocity along the p