Minimum-Time Trajectory Generation for Wheeled Mobile Systems Using Bézier Curves with Constraints on Velocity, Acceleration and Jerk

This paper considers the problem of minimum-time smooth trajectory planning for wheeled mobile robots. The smooth path is defined by several Bézier curves and the calculated velocity profiles on individual segments are minimum-time with continuous velocity and acceleration in the joints. We describe...

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Detalles Bibliográficos
Autores principales: Benko Loknar, Martina, Klančar, Gregor, Blažič, Sašo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9959204/
https://www.ncbi.nlm.nih.gov/pubmed/36850590
http://dx.doi.org/10.3390/s23041982

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9959204/
https://www.ncbi.nlm.nih.gov/pubmed/36850590
http://dx.doi.org/10.3390/s23041982

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