Title :
SAMMY - an algorithm for efficient computation of a smooth path for reference trajectory generation
Author :
Keck, Alexander ; Knierim, Karl Lukas ; Sawodny, Oliver
Author_Institution :
Inst. for Syst. Dynamics, Univ. of Stuttgart, Stuttgart, Germany
Abstract :
An efficient algorithm to generate smooth paths from polygonal lines is presented. The smooth path is used in combination with a trajectory generator to create reference values for the 2DOF control of a multi-sensor measuring system. The algorithm handles large amounts of target points without an increase in computation time and is able to construct a path based on noisy measurement data.
Keywords :
motion control; path planning; sensor fusion; trajectory control; 2DOF control; SAMMY; motion planning algorithm; multisensor measuring system; noisy measurement data; reference trajectory generation; Automation; Generators; Heuristic algorithms; Planning; Robot sensing systems; Trajectory;
Conference_Titel :
Automation, Robotics and Applications (ICARA), 2015 6th International Conference on
Conference_Location :
Queenstown
DOI :
10.1109/ICARA.2015.7081133
