Mobile Robot Trajectory Generation from Ordered Point-Set Using Time-Optimal Bezier Segments

Konstantinos Giannousakis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper addresses the problem of constructing a trajectory from a given set of points, considering a mobile robot. Following the initial pose of the robot, the points are connected in sequence by cubic Bezier segments. After selecting the tangential velocity at the connection points, these segments are time-optimized under the velocity and acceleration constraints of the robot, both tangential and angular, using nonlinear constrained optimization. The optimization problem is simplified by exploitation of polynomials. Experimental studies demonstrate the effectiveness of the algorithm.

Original languageEnglish (US)
Title of host publicationMED 2018 - 26th Mediterranean Conference on Control and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages388-393
Number of pages6
ISBN (Print)9781538678909
DOIs
StatePublished - Aug 20 2018
Event26th Mediterranean Conference on Control and Automation, MED 2018 - Zadar, Croatia
Duration: Jun 19 2018Jun 22 2018

Publication series

NameMED 2018 - 26th Mediterranean Conference on Control and Automation

Other

Other26th Mediterranean Conference on Control and Automation, MED 2018
CountryCroatia
CityZadar
Period6/19/186/22/18

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

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