Carnegie Mellon University
file.pdf (346.55 kB)

Trajectory Generation with Curvature Constraint based on Energy Minimization

Download (346.55 kB)
journal contribution
posted on 1991-01-01, 00:00 authored by H. Delingette, Martial Hebert, Katsushi Ikeuchi
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


Publisher Statement

"©1991 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE." "This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder."



Usage metrics



    Ref. manager