An Analytic Closed-form Solution for Trajectory Generation on a Path along an Arc of a Circle
- سال انتشار: 1395
- محل انتشار: مجله مهندسی برق مجلسی، دوره: 10، شماره: 1
- کد COI اختصاصی: JR_MJEE-10-1_001
- زبان مقاله: انگلیسی
- تعداد مشاهده: 190
نویسندگان
Young Researchers and Elite Club, Ahar Branch, Islamic Azad University, Ahar, Iran
Department of Computer Engineering, Karadeniz Technical University, Trabzon, Turkey
Department of Electrical and Computer Engineering, University of Mohaghegh Ardabili, Ardabil, Iran
چکیده
A polynomial trajectory is a time-traveled distance function used to describe trajectory of the robot. Optimal high-degree polynomial trajectories considering initial and the final velocity conditions besides the acceleration constraints are desired. In this paper, a trajectory optimization problem aiming travel maximum distance for a robot that follows an arc based path is formulated. Along the path, the robot requires observing initial and final zero velocity conditions as well as certain acceleration limits. A high-degree polynomial equation along the trajectory is proposed inside of the optimization problem. The closed-form solution of the problem had been obtained analytically. The solution includes the coefficients of the any high-degree trajectory polynomial equation where the coefficients are obtained in closed-form. Simulations several experiments show that the resulting high-degree trajectories satisfy the initial and final zero velocity conditions as well as acceleration constraint.کلیدواژه ها
Planning, en, mobile robot, constrained optimization, Analytic Solutionاطلاعات بیشتر در مورد COI
COI مخفف عبارت CIVILICA Object Identifier به معنی شناسه سیویلیکا برای اسناد است. COI کدی است که مطابق محل انتشار، به مقالات کنفرانسها و ژورنالهای داخل کشور به هنگام نمایه سازی بر روی پایگاه استنادی سیویلیکا اختصاص می یابد.
کد COI به مفهوم کد ملی اسناد نمایه شده در سیویلیکا است و کدی یکتا و ثابت است و به همین دلیل همواره قابلیت استناد و پیگیری دارد.