Infinitely Differentiable and Continuous Trajectory Planning for Mobile Robot Control

被引：0

作者：

Lee, An Yong ^{[1
]}

Jang, Giho ^{[1
]}

Choi, Youngjin ^{[2
]}

机构：

[1] Hanyang Univ, Dept Elect Elect Control & Instrumentat Engn, Seoul, South Korea

[2] Hayang Univ, Dept Elect Syst Engn, Hayang, South Korea

来源：

2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2013年

基金：

新加坡国家研究基金会;

关键词：

trajectory planning; mobile robot; continuous trajectory planning;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A smooth trajectory planning is necessary for smooth motion control of robots. In this paper, a conventional cubic trajectory planning for symmetric curve (S-curve) is extended to an infinitely differentiable and continuous trajectory planning which is derived from smooth jerk functions. Simulation results are provided to show the effectiveness of the smooth trajectory planning proposed for mobile robots.

引用

页码：357 / 361

页数：5

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