PIECEWISE-SMOOTH AND SAFE TRAJECTORY PLANNING

被引：1

作者：

ELNAGAR, A

BASU, A

机构：

[1] Alberta Center for Machine Intelligence and Robotics, Department of Computing Science, University of Alberta, T6G 2H1 Edmonton, Alberta

来源：

ROBOTICA | 1994年 / 12卷

基金：

加拿大自然科学与工程研究理事会;

关键词：

TRAJECTORY; PIECEWISE SMOOTH PLANNING; MOBILE ROBOTS; OBSTACLE AVOIDANCE;

D O I：

10.1017/S026357470001732X

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A new approach to generating smooth piecewise local trajectories for mobile robots is proposed in this paper. Given the configurations (position and direction) of two points, we search for the trajectory that minimizes the integral of acceleration (tangential and normal). The resulting trajectory should not only be smooth but also safe in order to be applicable in real-life situations. Therefore, we investigate two different obstacle-avoidance constraints that satisfy the minimization problem. Unfortunately, in this case the problem becomes more complex and not suitable for real time implementations. Therefore, we introduce two simple solutions, based on the idea of polynomial fitting, to generate safe trajectories once a collision is detected with the original smooth trajectory. Simulation results of the different algorithms are presented.

引用

页码：299 / 307

页数：9

共 14 条

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