Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 29, Issue 5, Pages 1317-1326Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2013.2262744
Keywords
Bounded kinematics; minimum-jerk planning; mobile robots; robot motion; velocity planning
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Funding
- Ateneo Italo Tedesco
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This paper studies an assigned-time velocity-planning problem for robotic systems that are subject to velocity and acceleration constraints. The planning problem, which is justified by several robotic applications, poses feasibility issues that are investigated in this paper. In particular, this paper shows that feasible solutions exist if and only if proper interpolating conditions are assigned, and proposes an efficient planning strategy, that is suitable for online implementations. Available degrees of freedom are used to smooth the velocity function by minimizing its maximum jerk.
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