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  • Minimum-time trajectory generation for wheeled mobile systems using Bézier curves with constraints on velocity, acceleration and jerk [Elektronski vir]
    Benko Loknar, Martina ; Klančar, Gregor ; Blažič, Sašo
    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.
    Vir: Sensors [Elektronski vir]. - ISSN 1424-8220 (Vol. 23, iss. 4, [article no.] 1982, Feb.-2 2023, 16 str.)
    Vrsta gradiva - e-članek
    Leto - 2023
    Jezik - angleški
    COBISS.SI-ID - 141635075

    Povezava(-e):

    https://www.mdpi.com/1424-8220/23/4/1982
    Repozitorij Univerze v Ljubljani – RUL
    DOI

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