Trajectory generation for mobile robots

M. Tounsi and J.F. Le Corre

Mathematics and Computers in Simulation (MATCOM), 1996, vol. 41, issue 3, 367-376

Abstract: 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.

Date: 1996
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Citations: View citations in EconPapers (2)

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Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:41:y:1996:i:3:p:367-376

DOI: 10.1016/0378-4754(95)00085-2

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