Your browser does not allow JavaScript!
JavaScript is necessary for the proper functioning of this website. Please enable JavaScript or use a modern browser.
Open Science Slovenia
Open Science
DiKUL
slv
|
eng
Search
Browse
New in RUL
About RUL
In numbers
Help
Sign in
Minimum-time trajectory generation for wheeled mobile systems using Bézier curves with constraints on velocity, acceleration and jerk
ID
Benko Loknar, Martina
(
Author
),
ID
Klančar, Gregor
(
Author
),
ID
Blažič, Sašo
(
Author
)
PDF - Presentation file,
Download
(2,62 MB)
MD5: E1CB61F2DB166B2CBB17B4639AA6B5F7
URL - Source URL, Visit
https://www.mdpi.com/1424-8220/23/4/1982
Image galllery
Abstract
This paper considers the problem of minimum-time smooth trajectory planning for wheeled mobile robots. The smooth path is defined by several Bézier curves and the calculated velocity profiles on individual segments are minimum-time with continuous velocity and acceleration in the joints. We describe a novel solution for the construction of a 5th order Bézier curve that enables a simple and intuitive parameterization. The proposed trajectory optimization considers environment space constraints and constraints on the velocity, acceleration, and jerk. The operation of the trajectory planning algorithm has been demonstrated in two simulations: on a racetrack and in a warehouse environment. Therefore, we have shown that the proposed path construction and trajectory generation algorithm can be applied to a constrained environment and can also be used in real-world driving scenarios.
Language:
English
Keywords:
wheeled mobile robots
,
trajectory generation
,
velocity profile
,
trajectory optimization
,
Bézier curves
Work type:
Article
Typology:
1.01 - Original Scientific Article
Organization:
FE - Faculty of Electrical Engineering
Publication status:
Published
Publication version:
Version of Record
Year:
2023
Number of pages:
16 str.
Numbering:
Vol. 23, iss. 4, [article no.] 1982
PID:
20.500.12556/RUL-156321
UDC:
007.52
ISSN on article:
1424-8220
DOI:
10.3390/s23041982
COBISS.SI-ID:
141635075
Publication date in RUL:
20.05.2024
Views:
244
Downloads:
102
Metadata:
Cite this work
Plain text
BibTeX
EndNote XML
EndNote/Refer
RIS
ABNT
ACM Ref
AMA
APA
Chicago 17th Author-Date
Harvard
IEEE
ISO 690
MLA
Vancouver
:
Copy citation
Share:
Record is a part of a journal
Title:
Sensors
Shortened title:
Sensors
Publisher:
MDPI
ISSN:
1424-8220
COBISS.SI-ID:
10176278
Licences
License:
CC BY 4.0, Creative Commons Attribution 4.0 International
Link:
http://creativecommons.org/licenses/by/4.0/
Description:
This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
Secondary language
Language:
Slovenian
Keywords:
kolesni mobilni roboti
,
generiranje trajektorij
,
hitrostni profil
,
optimizacija trajektorij
,
Bézierove krivulje
Projects
Funder:
ARIS - Slovenian Research and Innovation Agency
Project number:
P2-0219
Name:
Modeliranje, simulacija in vodenje procesov
Funder:
ARIS - Slovenian Research and Innovation Agency
Project number:
L2-3168
Name:
Razvoj samo-učečega sistema za optimizacijo pravil vožnje avtonomnih transportnih vozil in njihovih časovno-prostorsko usklajenih aktivnosti
Similar documents
Similar works from RUL:
Similar works from other Slovenian collections:
Back