The paper studies an assigned-time velocity planning problem for robotic systems that are subject to velocity and acceleration constraints. The planning problem, that is justified by several robotic applications, poses feasibility issues that are investigated in the paper. In particular, the 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.
Minimum-jerk velocity planning for mobile robot applications / GUARINO LO BIANCO, Corrado. - In: IEEE TRANSACTIONS ON ROBOTICS. - ISSN 1552-3098. - 9:5(2013), pp. 1317-1326. [10.1109/TRO.2013.2262744]
Minimum-jerk velocity planning for mobile robot applications
GUARINO LO BIANCO, Corrado
2013-01-01
Abstract
The paper studies an assigned-time velocity planning problem for robotic systems that are subject to velocity and acceleration constraints. The planning problem, that is justified by several robotic applications, poses feasibility issues that are investigated in the paper. In particular, the 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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
