Date of Original Version



Conference Proceeding

Abstract or Description

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


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Included in

Robotics Commons



Published In

Proceedings 1991 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '91).