Mobile Robot Trajectory Generation from Ordered Point-Set Using Time-Optimal Bezier Segments

Konstantinos Giannousakis, Antonios Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper addresses the problem of constructing a trajectory from a given set of points, considering a mobile robot. Following the initial pose of the robot, the points are connected in sequence by cubic Bezier segments. After selecting the tangential velocity at the connection points, these segments are time-optimized under the velocity and acceleration constraints of the robot, both tangential and angular, using nonlinear constrained optimization. The optimization problem is simplified by exploitation of polynomials. Experimental studies demonstrate the effectiveness of the algorithm.

Original languageEnglish (US)
Title of host publicationMED 2018 - 26th Mediterranean Conference on Control and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages388-393
Number of pages6
ISBN (Print)9781538678909
DOIs
StatePublished - Aug 20 2018
Event26th Mediterranean Conference on Control and Automation, MED 2018 - Zadar, Croatia
Duration: Jun 19 2018Jun 22 2018

Other

Other26th Mediterranean Conference on Control and Automation, MED 2018
CountryCroatia
CityZadar
Period6/19/186/22/18

Fingerprint

Trajectory Generation
Bézier
Ordered Set
Mobile Robot
Point Sets
Mobile robots
Robot
Trajectories
Robots
Constrained optimization
Constrained Optimization
Nonlinear Optimization
Exploitation
Set of points
Experimental Study
Polynomials
Trajectory
Optimization Problem
Polynomial
Demonstrate

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

Cite this

Giannousakis, K., & Tzes, A. (2018). Mobile Robot Trajectory Generation from Ordered Point-Set Using Time-Optimal Bezier Segments. In MED 2018 - 26th Mediterranean Conference on Control and Automation (pp. 388-393). [8443047] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2018.8443047

Mobile Robot Trajectory Generation from Ordered Point-Set Using Time-Optimal Bezier Segments. / Giannousakis, Konstantinos; Tzes, Antonios.

MED 2018 - 26th Mediterranean Conference on Control and Automation. Institute of Electrical and Electronics Engineers Inc., 2018. p. 388-393 8443047.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Giannousakis, K & Tzes, A 2018, Mobile Robot Trajectory Generation from Ordered Point-Set Using Time-Optimal Bezier Segments. in MED 2018 - 26th Mediterranean Conference on Control and Automation., 8443047, Institute of Electrical and Electronics Engineers Inc., pp. 388-393, 26th Mediterranean Conference on Control and Automation, MED 2018, Zadar, Croatia, 6/19/18. https://doi.org/10.1109/MED.2018.8443047
Giannousakis K, Tzes A. Mobile Robot Trajectory Generation from Ordered Point-Set Using Time-Optimal Bezier Segments. In MED 2018 - 26th Mediterranean Conference on Control and Automation. Institute of Electrical and Electronics Engineers Inc. 2018. p. 388-393. 8443047 https://doi.org/10.1109/MED.2018.8443047
Giannousakis, Konstantinos ; Tzes, Antonios. / Mobile Robot Trajectory Generation from Ordered Point-Set Using Time-Optimal Bezier Segments. MED 2018 - 26th Mediterranean Conference on Control and Automation. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 388-393
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