An Analytic Closed-form Solution for Trajectory Generation on a Path along an Arc of a Circle

Majlesi Journal of Electrical Engineering

مقاله 1، دوره 10، شماره 1، خرداد 2016   

نوع مقاله: Review Article

نویسندگان

Hossein Barghi Jond^{* 1}؛ Vasif V. Nabiyev²؛ Adel Akbarimajd³

¹Young Researchers and Elite Club, Ahar Branch, Islamic Azad University, Ahar, Iran

²Department of Computer Engineering, Karadeniz Technical University, Trabzon, Turkey

³Department 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.

کلیدواژه‌ها

Planning؛ en؛ mobile robot؛ constrained optimization؛ Analytic Solution

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