DocumentCode
651133
Title
Infinitely differentiable and continuous trajectory planning for mobile robot control
Author
An Yong Lee ; Giho Jang ; Youngjin Choi
Author_Institution
Dept. of Electr., Electron., Control & Instrum. Eng., Hanyang Univ., Seoul, South Korea
fYear
2013
fDate
Oct. 30 2013-Nov. 2 2013
Firstpage
357
Lastpage
361
Abstract
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.
Keywords
mobile robots; motion control; path planning; trajectory control; S-curve; continuous trajectory planning; conventional cubic trajectory planning; mobile robot control; mobile robots; smooth jerk functions; smooth motion control; smooth trajectory planning; symmetric curve; continuous trajectory planning; mobile robot; trajectory planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location
Jeju
Print_ISBN
978-1-4799-1195-0
Type
conf
DOI
10.1109/URAI.2013.6677386
Filename
6677386
Link To Document