DocumentCode
2332925
Title
Generation of “optimal” speed profile for motion planning
Author
Gravot, Fabien ; Hirano, Yutaka ; Yoshizawa, Shintaro
Author_Institution
Knowledge Net, Tokyo
fYear
2007
fDate
Oct. 29 2007-Nov. 2 2007
Firstpage
4071
Lastpage
4076
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.2007.4398973
Filename
4398973
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