Title :
Generation of “optimal” speed profile for motion planning
Author :
Gravot, Fabien ; Hirano, Yutaka ; Yoshizawa, Shintaro
Author_Institution :
Knowledge Net, Tokyo
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
This paper presents how to compute "optimal" speed profile on a path that can be made by a path planner. "Optimality" is defined as the minimization of the trajectory total time under constraints on any number of its derivatives (speed, acceleration, jerk, ...). Then the resulting trajectory can be used in real system to have precise control over it.
Keywords :
minimisation; mobile robots; motion control; path planning; motion path planning; optimal speed profile; trajectory minimization; Acceleration; Control systems; Equations; Intelligent robots; Mobile robots; Motion planning; Notice of Violation; Path planning; Time factors; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4398973
