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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...
| Autores principales: | , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2023
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| Materias: | |
| 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 |