Infinitely Differentiable and Continuous Trajectory Planning for Mobile Robot Control

Lee, An Yong; Jang, Giho; Choi, Youngjin

doi:10.1109/URAI.2013.6677386

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Infinitely Differentiable and Continuous Trajectory Planning for Mobile Robot Control

Lee, An Yong;
Jang, Giho;
Choi, Youngjin

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8

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10

초록

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.

키워드

trajectory planning; mobile robot; continuous trajectory planning

제목: Infinitely Differentiable and Continuous Trajectory Planning for Mobile Robot Control

저자: Lee, An Yong; Jang, Giho; Choi, Youngjin

DOI: 10.1109/URAI.2013.6677386

발행일: 2013-10

유형: Proceedings Paper

저널명: 2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI)

페이지: 357 ~ 361

언어: ENG

출판사: IEEE

발행국가: 미국

분량: 5 페이지

ISSN: P 2325-033X