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
fDate :
Oct. 30 2013-Nov. 2 2013
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;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677386
