Trajectory Generation with Curvature Constraint based on Energy Minimization - Robotics Institute Carnegie Mellon University

Trajectory Generation with Curvature Constraint based on Energy Minimization

H. Delingette, Martial Hebert, and Katsushi Ikeuchi
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 206 - 211, November, 1991

Abstract

The trajectory generation problem for mobile robots consists in providing a set of trajectories that are 'smooth' and meet certain boundary conditions. The authors present a method to generate curvature continuous trajectories for which the curvature profile is a polynomial function of arc length. An algorithm based on the deformation of a curve by energy minimization allows one to solve general geometric constraints which was not possible by previous methods. Furthermore, it is able to take into account the limitation of radius of curvature of the robot by controlling the extrema of curvature along the path.<

BibTeX

@conference{Delingette-1991-13313,
author = {H. Delingette and Martial Hebert and Katsushi Ikeuchi},
title = {Trajectory Generation with Curvature Constraint based on Energy Minimization},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1991},
month = {November},
volume = {1},
pages = {206 - 211},
}