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Axis-coupled trajectory generation for chains of integrators through smoothing splines
ShupengLAI,MengluLAN,KehongGONG,BenM.CHEN
0
(Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117583)
摘要:
Integrator based model is used to describe a wide range of systems in robotics. In this paper, we present an axis-coupled trajectory generation algorithm for chains of integrators with an arbitrary order. Special notice has been given to problems with pre-existing nominal plans, which are common in robotic applications. It also handles various type of constraints that can be satisfied on an entire time interval, including non-convex ones which can be transformed into a series of convex constraints through time segmentation. The proposed approach results in a linearly constrained quadratic programming problem, which can be solved effectively with off-the-shelf solvers. A closed-form solution is achievable with only the boundary constraints considered. Finally, the proposed method is tested in real experiments using quadrotors which represent high-order integrator systems.
关键词:  B-spline, trajectory generation, chains of integrators
DOI:
基金项目:
Axis-coupled trajectory generation for chains of integrators through smoothing splines
Shupeng LAI,Menglu LAN,Kehong GONG,Ben M. CHEN
(Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117583;Graduate School for Integrative Science & Engineering, National University of Singapore, Singapore 119077;Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, China; Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117583)
Abstract:
Integrator based model is used to describe a wide range of systems in robotics. In this paper, we present an axis-coupled trajectory generation algorithm for chains of integrators with an arbitrary order. Special notice has been given to problems with pre-existing nominal plans, which are common in robotic applications. It also handles various type of constraints that can be satisfied on an entire time interval, including non-convex ones which can be transformed into a series of convex constraints through time segmentation. The proposed approach results in a linearly constrained quadratic programming problem, which can be solved effectively with off-the-shelf solvers. A closed-form solution is achievable with only the boundary constraints considered. Finally, the proposed method is tested in real experiments using quadrotors which represent high-order integrator systems.
Key words:  B-spline, trajectory generation, chains of integrators