Minimum-Jerk Velocity Planning for Mobile Robot Applications

This paper studies an assigned-time velocity-planning problem for robotic systems that are subject to velocity and acceleration constraints. The planning problem, which is justified by several robotic applications, poses feasibility issues that are investigated in this paper. In particular, this pap...

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Veröffentlicht in:	IEEE transactions on robotics 2013-10, Vol.29 (5), p.1317-1326
1. Verfasser:	Guarino Lo Bianco, Corrado
Format:	Artikel
Sprache:	eng
Schlagworte:	Acceleration Bounded kinematics Collision avoidance Interpolation minimum-jerk planning Mobile robots Planning robot motion Robotics Robots Trajectory Velocity velocity planning
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