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Infinitely Differentiable and Continuous Trajectory Planning for Mobile Robot Control
- Authors
- Lee, An Yong; Jang, Giho; Choi, Youngjin
- Issue Date
- Oct-2013
- Publisher
- IEEE
- Keywords
- trajectory planning; mobile robot; continuous trajectory planning
- Citation
- 2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), pp.357 - 361
- Indexed
- SCIE
SCOPUS
- Journal Title
- 2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI)
- Start Page
- 357
- End Page
- 361
- ISSN
- 2325-033X
- Abstract
- A smooth trajectory planning is necessary for smooth motion control of robots. In this paper, a conventional cubic trajectory planning for symmetric curve (S-curve) is extended to an infinitely differentiable and continuous trajectory planning which is derived from smooth jerk functions. Simulation results are provided to show the effectiveness of the smooth trajectory planning proposed for mobile robots.
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