Faster and smoother trajectory generation considering physical system limits under discontinuously assigned target angles
- Authors
- Lee, Geon; Kim, Doik; Choi, Youngjin
- Issue Date
- Aug-2012
- Publisher
- IEEE
- Keywords
- Convolution; Discontinuous target input; Physical limits; Trajectory generation
- Citation
- 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, pp.1196 - 1201
- Indexed
- SCOPUS
- Journal Title
- 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
- Start Page
- 1196
- End Page
- 1201
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/36185
- DOI
- 10.1109/ICMA.2012.6283421
- ISSN
- 2152-7431
- Abstract
- This paper suggests a trajectory generation method using convolution operation. The proposed trajectory method always generates differentiable S-curve shape regardless of irregular time intervals, even when a new target is inputted before the trajectory does not reach to the previous target, or when a target is lost due to the communication problems. Also, the proposed method generates a trajectory considering physical system limits, for instance, maximum velocity, acceleration, and jerk, through the successive digital convolution that can reduce computational load, by using a recursive form of convolution operation. The effectiveness of the proposed method is shown through simulations. © 2012 IEEE.
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