Trajectory generation for mobile robots

✍ Scribed by M. Tounsi; J.F. Le Corre

• Book ID: 103897815
• Publisher: Elsevier Science
• Year: 1996
• Tongue: English
• Weight: 645 KB
• Volume: 41
• Category: Article
• ISSN: 0378-4754
• DOI: 10.1016/0378-4754(95)00085-2

✦ Synopsis

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 path. The velocity of the robot is a function of path curvature so as to control the centrifugal acceleration.