TY - GEN
T1 - Mobile Robot Trajectory Generation from Ordered Point-Set Using Time-Optimal Bezier Segments
AU - Giannousakis, Konstantinos
AU - Tzes, Anthony
PY - 2018/8/20
Y1 - 2018/8/20
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85053441951&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85053441951&partnerID=8YFLogxK
U2 - 10.1109/MED.2018.8443047
DO - 10.1109/MED.2018.8443047
M3 - Conference contribution
AN - SCOPUS:85053441951
SN - 9781538678909
T3 - MED 2018 - 26th Mediterranean Conference on Control and Automation
SP - 388
EP - 393
BT - MED 2018 - 26th Mediterranean Conference on Control and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 26th Mediterranean Conference on Control and Automation, MED 2018
Y2 - 19 June 2018 through 22 June 2018
ER -